.. _attTrackingError:

Module: attTrackingError
========================

Executive Summary
-----------------

This module is intended to be the last module in the guidance module chain.  It's input is the reference motion message generated by a prior module.  It's output is at the guidance attitude tracking errors relative to a moving reference frame.  This module applies the body to corrected body attitude correction. The module
:download:`PDF Description </../../src/fswAlgorithms/attGuidance/attTrackingError/_Documentation/Basilisk-attTrackingError-20190220.pdf>`
contains further information on this module's function, how to run it, as well as testing.

Message Connection Descriptions
-------------------------------
The following table lists all the module input and output messages.  The module msg connection is set by the
user from python.  The msg type contains a link to the message structure definition, while the description
provides information on what this message is used for.

.. list-table:: Module I/O Messages
    :widths: 25 25 50
    :header-rows: 1

    * - Msg Variable Name
      - Msg Type
      - Description
    * - attGuidOutMsg
      - :ref:`AttGuidMsgPayload`
      - attitude guidance output message
    * - attNavInMsg
      - :ref:`NavAttMsgPayload`
      - attitude navigation input message
    * - attRefInMsg
      - :ref:`AttRefMsgPayload`
      - attitude reference input message




----

.. autodoxygenfile:: attTrackingError.h
   :project: attTrackingError