rwMotorTorque

Executive Summary

This module maps a desired torque to control the spacecraft, and maps it to the available wheels using a minimum norm inverse fit.

The optional wheel availability message is used to include or exclude particular reaction wheels from the torque solution. The desired control torque can be mapped onto particular orthogonal control axes to implement a partial solution for the overall attitude control torque. More information can be found in the PDF Description.

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
rwMotorTorqueOutMsg	ArrayMotorTorqueMsgPayload	RW motor torque output message
vehControlInMsg	CmdTorqueBodyMsgPayload	commanded vehicle control torque input message
vehControlIn2Msg	CmdTorqueBodyMsgPayload	(optional) additional commanded vehicle control torque input message
rwParamsInMsg	RWArrayConfigMsgPayload	RW array configuration input message
rwAvailInMsg	RWAvailabilityMsgPayload	(optional) RW device availability message

Class RwMotorTorque

class RwMotorTorque : 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.

Parameters:

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

Returns:

void

void updateState(uint64_t callTime) override

Add a description of what this main Update() routine does for this module

Parameters:

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

Returns:

void

Public Members

double controlAxes_B[3 * 3]

[-] array of the control unit axes

uint32_t numControlAxes

[-] counter indicating how many orthogonal axes are controlled

int numAvailRW

[-] number of reaction wheels available

RWArrayConfigMsgPayload rwConfigParams

[-] struct to store message containing RW config parameters in body B frame

double GsMatrix_B[3 * MAX_EFF_CNT]

[-] The RW spin axis matrix in body frame components

double CGs[3][MAX_EFF_CNT]

[-] Projection matrix that defines the controlled body axes

Message<ArrayMotorTorqueMsgPayload> rwMotorTorqueOutMsg

RW motor torque output message.

ReadFunctor<CmdTorqueBodyMsgPayload> vehControlInMsg

vehicle control (Lr) Input message

ReadFunctor<CmdTorqueBodyMsgPayload> vehControlIn2Msg

optional vehicle control input message

ReadFunctor<RWArrayConfigMsgPayload> rwParamsInMsg

RW Array input message.

ReadFunctor<RWAvailabilityMsgPayload> rwAvailInMsg

optional RWs availability input message

BSKLogger bskLogger = {}

BSK Logging.