Module: rateMsgConverter
Executive Summary
The purpose of this module is to read in the IMU sensor body message from message type IMUSensorBodyMsgPayload, and store it in the output message of type NavAttMsgPayload. The output message of type NavAttMsgPayload is used as a common attitude input message by the FSW modules. This output message is first zeroed, and then the rate vector is copied into the variable omega_BN_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 |
|---|---|---|
navRateOutMsg |
attitude output message |
|
imuRateInMsg |
attitude input message |
Functions
-
void SelfInit_rateMsgConverter(rateMsgConverterConfig *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 Basilisk module identifier
- Returns:
void
-
void Update_rateMsgConverter(rateMsgConverterConfig *configData, uint64_t callTime, int64_t moduleID)
This method performs a time step update of the module.
- Parameters:
configData – The configuration data associated with the module
callTime – The clock time at which the function was called (nanoseconds)
moduleID – The Basilisk module identifier
- Returns:
void
-
void Reset_rateMsgConverter(rateMsgConverterConfig *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 Basilisk module identifier
- Returns:
void
-
struct rateMsgConverterConfig
- #include <rateMsgConverter.h>
Top level structure for the sub-module routines.