dipoleMapping#
Executive Summary#
This module computes individual torque rod dipole commands taking into account saturation limits.
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 |
|---|---|---|
mtbParamsInMsg |
MTBArrayConfigMsgPayload |
input message for MTB layout |
dipoleRequestBodyInMsg |
DipoleRequestBodyMsgPayload |
input message containing the requested body frame dipole |
dipoleRequestMtbOutMsg |
MTBCmdMsgPayload |
input message containing the individual dipole requests for each torque bar on the vehicle |
Detailed Module Description#
The following presents the mathematics for mapping a Body frame dipole request into individual torque rod dipole commands.
The individual rod dipoles are given by
where the \(\dagger\) symbol denotes the pseudo inverse. The dipole commands may need to be saturated at this point. The saturated commands are referred to as \({\pmb\mu}_{\text{saturated}}\) from here on out in this document.
User Guide#
See the example script scenarioMtbMomentumManagementSimple for an illustration on how to use this module.
Note that user must set the torque rod alignment matrix GtMatrix_B and the steeringMatrix in row major format.
Also note that steeringMatrix is simply the psuedoinverse of the torque rod alignment matrix
Class DipoleMapping#
-
class DipoleMapping : public SysModel#
Top level structure for the sub-module routines.
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. Check if required input messages are connected.
- Parameters:
callTime – [ns] time the method is called
- Returns:
void
-
void updateState(uint64_t callTime) override#
This method computes takes a requested Body frame dipole into individual torque rod dipole commands using a psuedoinverse taking into account saturation limits of the torque rods.
- Parameters:
callTime – The clock time at which the function was called (nanoseconds)
- Returns:
void
Public Members
-
double steeringMatrix[MAX_EFF_CNT * 3]#
matrix for mapping body frame dipole request to individual torque bar dipoles
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ReadFunctor<MTBArrayConfigMsgPayload> mtbArrayConfigParamsInMsg#
input message containing configuration parameters for all the torque bars on the vehicle
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ReadFunctor<DipoleRequestBodyMsgPayload> dipoleRequestBodyInMsg#
[A-m2] input message containing the requested body frame dipole
-
Message<MTBCmdMsgPayload> dipoleRequestMtbOutMsg#
[A-m2] output message containing the individual dipole requests for each torque bar on the vehicle
-
MTBArrayConfigMsgPayload mtbArrayConfigParams#
configuration parameters for all the torque bars used on the vehicle
-
BSKLogger bskLogger = {}#
BSK Logging.
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void reset(uint64_t callTime) override#