Module: rwMotorTorque
Executive Summary
This module maps a desired torque to control the spacecraft, and maps it to the available wheels using a minimum norm inverse fit.
The optional wheel availability message is used to include or exclude particular reaction wheels from the torque solution. The desired control torque can be mapped onto particular orthogonal control axes to implement a partial solution for the overall attitude control torque. More information can be found in the
PDF Description.
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 |
|---|---|---|
rwMotorTorqueOutMsg |
RW motor torque output message |
|
vehControlInMsg |
commanded vehicle control torque input message |
|
rwParamsInMsg |
RW array configuration input message |
|
rwAvailInMsg |
(optional) RW device availability message |
Functions
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void SelfInit_rwMotorTorque(rwMotorTorqueConfig *configData, int64_t moduleID)
This method creates the module output message.
- Parameters:
configData – The configuration data associated with this module
moduleID – The ID associated with the configData
- Returns:
void
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void Update_rwMotorTorque(rwMotorTorqueConfig *configData, uint64_t callTime, int64_t moduleID)
Add a description of what this main Update() routine does for this module
- Parameters:
configData – The configuration data associated with the module
callTime – The clock time at which the function was called (nanoseconds)
moduleID – The ID associated with the configData
- Returns:
void
-
void Reset_rwMotorTorque(rwMotorTorqueConfig *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 module
callTime – The clock time at which the function was called (nanoseconds)
moduleID – The ID associated with the configData
- Returns:
void
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struct rwMotorTorqueConfig
- #include <rwMotorTorque.h>
Top level structure for the sub-module routines.
Public Members
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double controlAxes_B[3 * 3]
[-] array of the control unit axes
-
uint32_t numControlAxes
[-] counter indicating how many orthogonal axes are controlled
-
int numAvailRW
[-] number of reaction wheels available
-
RWArrayConfigMsgPayload rwConfigParams
[-] struct to store message containing RW config parameters in body B frame
-
double GsMatrix_B[3 * MAX_EFF_CNT]
[-] The RW spin axis matrix in body frame components
-
double CGs[3][MAX_EFF_CNT]
[-] Projection matrix that defines the controlled body axes
-
ArrayMotorTorqueMsg_C rwMotorTorqueOutMsg
RW motor torque output message.
-
CmdTorqueBodyMsg_C vehControlInMsg
vehicle control (Lr) Input message
-
RWArrayConfigMsg_C rwParamsInMsg
RW Array input message.
-
RWAvailabilityMsg_C rwAvailInMsg
optional RWs availability input message
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BSKLogger *bskLogger
BSK Logging.
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double controlAxes_B[3 * 3]