Module: imuComm
Executive Summary
Converts incoming IMU data in the sensor platform frame P to the spacecraft body frame B.
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 |
|---|---|---|
imuComInMsg |
imu input message in sensor platform frame |
|
imuSensorOutMsg |
imu output message in spacecraft body frame |
User Guide
The only variable that must be set is the DCM from the platform frame P to the body frame B, dcm_BP.
Functions
-
void SelfInit_imuProcessTelem(IMUConfigData *configData, int64_t moduleID)
This method initializes the configData for theIMU sensor interface. It checks to ensure that the inputs are sane and then creates the output message
- Parameters:
configData – The configuration data associated with the IMU sensor interface
moduleID – The ID associated with the configData
- Returns:
void
-
void Reset_imuProcessTelem(IMUConfigData *configData, uint64_t callTime, int64_t moduleId)
This method resets the module.
- Parameters:
configData – The configuration data associated with the OD filter
callTime – The clock time at which the function was called (nanoseconds)
moduleID – The ID associated with the configData
- Returns:
void
-
void Update_imuProcessTelem(IMUConfigData *configData, uint64_t callTime, int64_t moduleID)
This method takes the raw sensor data from the coarse sun sensors and converts that information to the format used by the IMU nav.
- Parameters:
configData – The configuration data associated with the IMU interface
callTime – The clock time at which the function was called (nanoseconds)
moduleID – The ID associated with the configData
- Returns:
void
-
struct IMUConfigData
- #include <imuComm.h>
module configuration message