Module: inertial3D

Executive Summary

This attitude guidance module create a reference attitude message that points in fixed inertial direction. The module PDF Description 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.

Module I/O Messages

Msg Variable Name

Msg Type

Description

attRefOutMsg

AttRefMsgPayload

attitude reference output message


Functions

void SelfInit_inertial3D(inertial3DConfig *configData, int64_t moduleID)

Constructs the module

Parameters
  • configData – The configuration data associated with RW null space model

  • moduleID – The ID associated with the configData

Returns

void

void Update_inertial3D(inertial3DConfig *configData, uint64_t callTime, int64_t moduleID)

This method creates a fixed attitude reference message. The desired orientation is defined within the module.

Parameters
  • configData – The configuration data associated with the null space control

  • callTime – The clock time at which the function was called (nanoseconds)

  • moduleID – The ID associated with the configData

Returns

void

void Reset_inertial3D(inertial3DConfig *configData, uint64_t callTime, int64_t moduleID)

This method performs the module reset capability. This module has no actions.

Parameters
  • configData – The configuration data associated with this module

  • callTime – The clock time at which the function was called (nanoseconds)

  • moduleID – The ID associated with the configData

Returns

void

void computeInertialPointingReference(inertial3DConfig *configData, AttRefMsgPayload *attRefOut)

Generate attitude reference associated with Intertial 3D Pointing. In this case this is a fixed attitude with zero angular rate and acceleration vectors

Parameters
  • configData – The configuration data associated with the null space control

  • attRefOut – Output message

Returns

void

struct inertial3DConfig
#include <inertial3D.h>

Data structure for module to compute the Inertial-3D pointing navigation solution.

Public Members

double sigma_R0N[3]

MRP from inertial frame N to corrected reference frame R.

AttRefMsg_C attRefOutMsg

reference attitude output message

BSKLogger *bskLogger

BSK Logging.