Module: rateServoFullNonlinear¶

This module implements a nonlinear rate servo control uses the attiude steering message and determine the ADCS control torque vector.

The module PDF Description contains further information on this module’s function, how to run it, as well as testing.

Functions

void SelfInit_rateServoFullNonlinear(rateServoFullNonlinearConfig *configData, int64_t moduleID)¶

This method initializes the configData for this module. It creates the output message CmdTorqueBodyIntMsg.

Return

void

Parameters

configData: The configuration data associated with this module

void CrossInit_rateServoFullNonlinear(rateServoFullNonlinearConfig *configData, int64_t moduleID)¶

This method performs the second stage of initialization for this module. Its primary function is to link the input messages that were created elsewhere. The required input messages are the attitude tracking error message of type AttGuidFswMsg the vehicle configuration message of type VehicleConfigFswMsg, and the rate command message of type RateCmdFswMsg. Optional messages are the RW configuration message of type RWArrayConfigFswMsg, the RW speed message of type RWSpeedIntMsg and the RW availability message of type RWAvailabilityFswMsg.

Return

void

Parameters

configData: The configuration data associated with this module

void Update_rateServoFullNonlinear(rateServoFullNonlinearConfig *configData, uint64_t callTime, int64_t moduleID)¶

This method takes and rate errors relative to the Reference frame, as well as the reference frame angular rates and acceleration, and computes the required control torque Lr.

Return

void

Parameters

configData: The configuration data associated with the servo rate control
callTime: The clock time at which the function was called (nanoseconds)

void Reset_rateServoFullNonlinear(rateServoFullNonlinearConfig *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.

Return

void

Parameters

configData: The configuration data associated with the servo rate control

struct rateServoFullNonlinearConfig¶

#include <rateServoFullNonlinear.h>

The configuration structure for the rateServoFullNonlinear module.

Public Members

double P¶: [N*m*s] Rate error feedback gain applied

double Ki¶: [N*m] Integration feedback error on rate error

double knownTorquePntB_B[3]¶: [N*m] known external torque in body frame vector components

double integralLimit¶: [N*m] Integration limit to avoid wind-up issue

uint64_t priorTime¶: [ns] Last time the attitude control is called

double z[3]¶: [rad] integral state of delta_omega

double ISCPntB_B[9]¶: [kg m^2] Spacecraft Inertia

RWArrayConfigFswMsg rwConfigParams¶: [-] struct to store message containing RW config parameters in body B frame

char rwParamsInMsgName[MAX_STAT_MSG_LENGTH]¶: The name of the RWArrayConfigFswMsg input message.

int32_t rwParamsInMsgId¶: [-] ID for the RWArrayConfigFswMsg ingoing message

char vehConfigInMsgName[MAX_STAT_MSG_LENGTH]¶

int32_t vehConfigInMsgId¶

char rwAvailInMsgName[MAX_STAT_MSG_LENGTH]¶: [-] The name of the RWs availability message

int32_t rwAvailInMsgId¶: [-] ID for the incoming RWs availability data

char outputDataName[MAX_STAT_MSG_LENGTH]¶: The name of the commanded attitude control torque output message.

int32_t cmdTorqueOutMsgId¶: [] ID for the outgoing control torque message

char inputGuidName[MAX_STAT_MSG_LENGTH]¶: The name of the guidance input message.

int32_t guidInMsgId¶: [] ID for the incoming guidance message

char inputRWSpeedsName[MAX_STAT_MSG_LENGTH]¶: [] The name for the reaction wheel speeds message

int32_t rwSpeedsInMsgId¶: [] The ID for the reaction wheel speeds message

char inputRateSteeringName[MAX_STAT_MSG_LENGTH]¶: [] the name of the steering law message

int32_t rateSteeringInMsgId¶: [] ID for the incoming steering law message

BSKLogger *bskLogger¶: BSK Logging.