attTrackingError

Executive Summary

This module is intended to be the last module in the guidance module chain. It’s input is the reference motion message generated by a prior module. It’s output is at the guidance attitude tracking errors relative to a moving reference frame. This module applies the body to corrected body attitude correction. 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
attGuidOutMsg	AttGuidMsgPayload	attitude guidance output message
attNavInMsg	NavAttMsgPayload	attitude navigation input message
attRefInMsg	AttRefMsgPayload	attitude reference input message

Class AttTrackingError

class AttTrackingError : public SysModel

Data structure for module to compute the attitude tracking error between the spacecraft attitude and the reference.

Public Functions

AttTrackingError() = default

Constructor.

~AttTrackingError() = default

Destructor.

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

The Update method performs reads the Navigation message (containing the spacecraft attitude information), and the Reference message (containing the desired attitude). It computes the attitude error and writes it in the Guidance message.

Parameters:

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

Returns:

void

void setSigma_R0R(const Eigen::Vector3d &sigma_R0R)

Setter method for sigma_R0R.

Parameters:

sigma_R0R –

Returns:

void

const Eigen::Vector3d &getSigma_R0R() const

Getter method for sigma_R0R.

Returns:

const Eigen::Vector3d

Public Members

Message<AttGuidMsgPayload> attGuidOutMsg

Output attitude guidance message.

ReadFunctor<NavAttMsgPayload> attNavInMsg

Input msg measured attitude.

ReadFunctor<AttRefMsgPayload> attRefInMsg

Input msg of reference attitude.

BSKLogger bskLogger = {}

BSK Logging.