prvSteering#
Executive Summary#
This module implements a PRV steering attitude control routine.
The module
PDF Description
contains further information on this module’s function,
how to run it, as well as testing.
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 |
|---|---|---|
guidInMsg |
AttGuidMsgPayload |
Attitude guidance input message. |
rateCmdOutMsg |
RateCmdMsgPayload |
Rate command output message. |
Class PrvSteering#
-
class PrvSteering : public SysModel#
module configuration message definition
Public Functions
-
void reset(uint64_t callTime) override#
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:
callTime – The clock time at which the function was called (nanoseconds)
- Returns:
void
-
void updateState(uint64_t callTime) override#
This method takes the attitude 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.
- Parameters:
callTime – The clock time at which the function was called (nanoseconds)
- Returns:
void
Public Members
-
double K1#
[rad/sec] Proportional gain applied to principal rotation angle error
-
double K3#
[rad/sec] Cubic gain applied to principal rotation angle error in steering saturation function
-
double omega_max#
[rad/sec] Maximum rate command of steering control
-
Message<RateCmdMsgPayload> rateCmdOutMsg#
rate command output message
-
ReadFunctor<AttGuidMsgPayload> guidInMsg#
attitude guidance input message
-
BSKLogger bskLogger = {}#
BSK Logging.
-
void reset(uint64_t callTime) override#