test_MRP_steeringInt

test_MRP_steeringInt.test_mrp_steering_tracking(show_plots, K1, K3, omegaMax)[source]

Validation Test Description

This unit test is an integrated test of this module with Module: rateServoFullNonlinear as well, comparing the desired torques computed \({\bf L}_r\) with truth values computed in the test.

Test Parameters

This test checks a set of gains K1, K3 and omegaMax on a rigid body with no external torques, and with a fixed input reference attitude message. The commanded rate solution is evaluated against python computed values at 0s, 0.5s, 1.0s, 1.5s and 2s to within a tolerance of \(10^{-12}\).

Parameters:

  • show_plots – flag indicating if plots should be shown.

  • K1 – The control gain \(K_1\)

  • K3 – The control gain \(K_3\)

  • omegaMax – The control gain \(\omega_{\text{max}}\)

Returns:

void