Module: inertial3DSpin

Module to compute the Inertial-3D spinning pointing navigation solution.

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

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Functions

void SelfInit_inertial3DSpin(inertial3DSpinConfig *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

Return

void

Parameters

• configData: The configuration data associated with this module

void CrossInit_inertial3DSpin(inertial3DSpinConfig *configData, int64_t moduleID)

This method performs the second stage of initialization for this module. It’s primary function is to link the input messages that were created elsewhere.

Return

void

Parameters

• configData: The configuration data associated with this module

void Update_inertial3DSpin(inertial3DSpinConfig *configData, uint64_t callTime, int64_t moduleID)

This method performs all the main computations of the module

Return

void

Parameters

• configData: The configuration data associated with the MRP Steering attitude control

• callTime: The clock time at which the function was called (nanoseconds)

void Reset_inertial3DSpin(inertial3DSpinConfig *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 MRP steering control

void computeReference_inertial3DSpin(inertial3DSpinConfig *configData, double omega_R0N_N[3], double domega_R0N_N[3], double omega_RR0_R[3], double dt)

struct inertial3DSpinConfig

#include <inertial3DSpin.h>

module configurate structure definition.

Public Members

double sigma_RN[3]

double omega_spin[3]

uint64_t priorTime

[ns] last time the guidance module is called

char outputDataName[MAX_STAT_MSG_LENGTH]

Name of the outgoing guidance reference message

int32_t outputMsgID

[-] ID for the outgoing guidance reference message

char inputRefName[MAX_STAT_MSG_LENGTH]

The name of the input guidance reference message

int32_t inputRefID

[-] ID for the incoming guidance reference message

AttRefFswMsg attRefOut

[-] structure for the output data

BSKLogger *bskLogger

BSK Logging.