rateServoFullNonlinear#

Executive Summary#

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.

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
cmdTorqueOutMsg	CmdTorqueBodyMsgPayload	commanded torque output message
guidInMsg	AttGuidMsgPayload	attitude guidance input message
vehConfigInMsg	VehicleConfigMsgPayload	vehicle configuration input message
rwSpeedsInMsg	RWSpeedMsgPayload	(optional) RW speed input message
rwAvailInMsg	RWAvailabilityMsgPayload	(optional) RW availability input message
rwParamsInMsg	RWArrayConfigMsgPayload	(optional) RW configuration parameter input message
rateSteeringInMsg	RateCmdMsgPayload	commanded rate input message

Class RateServoFullNonlinear#

class RateServoFullNonlinear : public SysModel#

The configuration structure for the rateServoFullNonlinear module.

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:

this – The configuration data associated with the servo rate control
callTime – The clock time at which the function was called (nanoseconds)
moduleID – The module identifier

Returns:

void

void updateState(uint64_t callTime) override#

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.