Module: simpleDeadband
Executive Summary
This method applies a two-level deadbanding logic (according to the current average simple compared with the set threshold) and decides whether control should be switched ON/OFF or not.
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.
Msg Variable Name |
Msg Type |
Description |
|---|---|---|
attGuidOutMsg |
attitude guidance output message |
|
guidInMsg |
incoming attitude guidance message |
Functions
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void SelfInit_simpleDeadband(simpleDeadbandConfig *configData, int64_t moduleID)
This method initializes the configData for this module. It checks to ensure that the inputs are sane and then creates the output message
- Parameters:
configData – The configuration data associated with this module
moduleID – The ID associated with the configData
- Returns:
void
-
void Update_simpleDeadband(simpleDeadbandConfig *configData, uint64_t callTime, int64_t moduleID)
This method parses the input data, checks if the deadband needs to be applied and outputs the guidance command with simples either zeroed (control OFF) or left unchanged (control ON)
- Parameters:
configData – The configuration data associated with the attitude tracking simple module
callTime – The clock time at which the function was called (nanoseconds)
moduleID – The ID associated with the configData
- Returns:
void
-
void Reset_simpleDeadband(simpleDeadbandConfig *configData, uint64_t callTime, int64_t moduleID)
This method performs a complete reset of the module. Local module variables that retain time varying states between function calls are reset to their default values.
- Parameters:
configData – The configuration data associated with the MRP steering control
callTime – The clock time at which the function was called (nanoseconds)
moduleID – The ID associated with the configData
- Returns:
void
-
void applyDBLogic_simpleDeadband(simpleDeadbandConfig *configData)
This method applies a two-level deadbanding logic (according to the current average simple compared with the set threshold) and decides whether control should be switched ON/OFF or not.
- Parameters:
configData – The configuration data associated with the attitude tracking simple module
- Returns:
void
-
struct simpleDeadbandConfig
- #include <simpleDeadband.h>
Top level structure for the sub-module routines.
Public Members
-
double innerAttThresh
inner limit for sigma (attitude) errors
-
double outerAttThresh
outer limit for sigma (attitude) errors
-
double innerRateThresh
inner limit for omega (rate) errors
-
double outerRateThresh
outer limit for omega (rate) errors
-
uint32_t wasControlOff
boolean variable to keep track of the last Control status (ON/OFF)
-
double attError
current scalar attitude error
-
double rateError
current scalar rate error
-
AttGuidMsg_C attGuidOutMsg
The name of the output message
-
AttGuidMsg_C guidInMsg
The name of the guidance reference Input message
-
AttGuidMsgPayload attGuidOut
copy of the output message
-
BSKLogger *bskLogger
BSK Logging.
-
double innerAttThresh