.. _thrFiringRemainder:

Module: thrFiringRemainder
==========================

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

A thruster force message is read in and converted to a thruster on-time output message. The module ensures the requested on-time is at least as large as the thruster's minimum on time.  If not then the on-time is zeroed, but the unimplemented thrust time is kept as a remainder calculation.  If these add up to reach the minimum on time, then a thruster pulse is requested.  If the thruster on time is larger than the control period, then an on-time that is 1.1 times the control period is requested. More information can be found in the
:download:`PDF Description </../../src/fswAlgorithms/effectorInterfaces/thrFiringRemainder/_Documentation/Basilisk-thrFiringRemainder-2019-03-28.pdf>`.
The paper `Steady-State Attitude and Control Effort Sensitivity Analysis of Discretized Thruster Implementations <https://doi.org/10.2514/1.A33709>`__ includes a detailed discussion on the Remainder Trigger algorithm and compares it to other thruster firing methods.


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.

.. _ModuleIO_ThrFiringRemainder:
.. figure:: /../../src/fswAlgorithms/effectorInterfaces/thrFiringRemainder/_Documentation/Images/moduleImgThrFiringRemainder.svg
    :align: center

    Figure 1: ``rwNullSpace()`` Module I/O Illustration


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

    * - Msg Variable Name
      - Msg Type
      - Description
    * - thrForceInMsg
      - :ref:`THRArrayCmdForceMsgPayload`
      - thruster force input message
    * - onTimeOutMsg
      - :ref:`THRArrayOnTimeCmdMsgPayload`
      - thruster on-time output message
    * - thrConfInMsg
      - :ref:`THRArrayConfigMsgPayload`
      - Thruster array configuration input message





----

.. autodoxygenfile:: thrFiringRemainder.h
   :project: thrFiringRemainder