Module: MtbEffector

Executive Summary

This module converts magnetic torque bar dipoles to body torques.

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.

Module I/O Messages

Msg Variable Name	Msg Type	Description
mtbCmdInMsg	MTBCmdMsgPayload	input msgfor commanded mtb dipole array in the magnetic torque bar frame T
magInMsg	MagneticFieldMsgPayload	input msg for magnetic field data in inertial frame N
cmdTorqueInMsg	CmdTorqueBodyMsgPayload	input msg for commanded torque in B frame
cmdTorqueOutMsg	CmdTorqueBodyMsgPayload	output msg for commanded force in B frame

User Guide

Note that the MTB input configuration message variable GtMatrix_B must be provided in a row major format.

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class MtbEffector : public SysModel, public DynamicEffector

#include <MtbEffector.h>

This module converts magnetic torque bar dipoles to body torques.

Public Functions

MtbEffector()

This is the constructor for the module class. It sets default variable values and initializes the various parts of the model

~MtbEffector()

Module Destructor

void Reset(uint64_t CurrentSimNanos)

This method is used to reset the module and checks that required input messages are connect.

Returns

void

void UpdateState(uint64_t CurrentSimNanos)

This is the main method that gets called every time the module is updated. Provide an appropriate description.

Returns

void

void linkInStates(DynParamManager &states)

This method is used to link the magnetic torque bar effector to the hub attitude.

Returns

void

void computeForceTorque(double integTime)

This method computes the body torque contribution from all magnetic torque bars.

Returns

void

void WriteOutputMessages(uint64_t CurrentClock)

Write the magnetic torque bar output message.

Returns

void

Public Members

Message<MTBMsgPayload> mtbOutMsg

output message containing net torque produced by the torque bars in Body components

StateData *hubSigma

Hub/Inertial attitude represented by MRP.

ReadFunctor<MTBCmdMsgPayload> mtbCmdInMsg

input msg for commanded mtb dipole array in the magnetic torque bar frame T

ReadFunctor<MagneticFieldMsgPayload> magInMsg

input msg for magnetic field data in inertial frame N

ReadFunctor<MTBArrayConfigMsgPayload> mtbParamsInMsg

input msg for layout of magnetic torque bars

BSKLogger bskLogger

BSK Logging

Private Members

MTBCmdMsgPayload mtbCmdInMsgBuffer

msg buffer or commanded mtb dipole array in the magnetic torque bar frame T

MagneticFieldMsgPayload magInMsgBuffer

msg buffer for magnetic field data in inertial frame N

MTBArrayConfigMsgPayload mtbConfigParams

msg for layout of magnetic torque bars