Module: dipoleMapping
Executive Summary
This module computes individual torque rod dipole commands taking into account saturation limits.
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 |
|---|---|---|
mtbParamsInMsg |
input message for MTB layout |
|
dipoleRequestBodyInMsg |
input message containing the requested body frame dipole |
|
dipoleRequestMtbOutMsg |
input message containing the individual dipole requests for each torque bar on the vehicle |
Detailed Module Description
The following presents the mathematics for mapping a Body frame dipole request into individual torque rod dipole commands.
The individual rod dipoles are given by
where the \(\dagger\) symbol denotes the pseudo inverse. The dipole commands may need to be saturated at this point. The saturated commands are referred to as \({\pmb\mu}_{\text{saturated}}\) from here on out in this document.
User Guide
See the example script scenarioMtbMomentumManagementSimple for an illustration on how to use this module.
Note that user must set the torque rod alignment matrix GtMatrix_B and the steeringMatrix in row major format.
Also note that steeringMatrix is simply the psuedoinverse of the torque rod alignment matrix
Functions
-
void SelfInit_dipoleMapping(dipoleMappingConfig *configData, int64_t moduleID)
This method initializes the output messages for this module.
- Parameters:
configData – The configuration data associated with this module
moduleID – The module identifier
- Returns:
void
-
void Update_dipoleMapping(dipoleMappingConfig *configData, uint64_t callTime, int64_t moduleID)
This method computes takes a requested Body frame dipole into individual torque rod dipole commands using a psuedoinverse taking into account saturation limits of the torque rods.
- Parameters:
configData – The configuration data associated with the module
callTime – The clock time at which the function was called (nanoseconds)
moduleID – The module identifier
- Returns:
void
-
void Reset_dipoleMapping(dipoleMappingConfig *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. Check if required input messages are connected.
- Parameters:
configData – The configuration data associated with the module
callTime – [ns] time the method is called
moduleID – The module identifier
- Returns:
void
-
struct dipoleMappingConfig
- #include <dipoleMapping.h>
Top level structure for the sub-module routines.
Public Members
-
double steeringMatrix[MAX_EFF_CNT * 3]
matrix for mapping body frame dipole request to individual torque bar dipoles
-
MTBArrayConfigMsg_C mtbArrayConfigParamsInMsg
input message containing configuration parameters for all the torque bars on the vehicle
-
DipoleRequestBodyMsg_C dipoleRequestBodyInMsg
[A-m2] input message containing the requested body frame dipole
-
MTBCmdMsg_C dipoleRequestMtbOutMsg
[A-m2] output message containing the individual dipole requests for each torque bar on the vehicle
-
MTBArrayConfigMsgPayload mtbArrayConfigParams
configuration parameters for all the torque bars used on the vehicle
-
BSKLogger *bskLogger
BSK Logging.
-
double steeringMatrix[MAX_EFF_CNT * 3]