thrForceMapping

Executive Summary

This module reads in a desired attitude control torque vector and maps it onto a set of thrusters.

The module works for both on-pulsing (nominal thruster state is off such as with RCS thrusters) and off-pulsing (nominal thruster state is on such as with DV thrusters). 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
thrForceCmdOutMsg	THRArrayCmdForceMsgPayload	thruster force output message
cmdTorqueInMsg	CmdTorqueBodyMsgPayload	commanded attitude control torque vector input message
thrConfigInMsg	THRArrayConfigMsgPayload	Thruster array configuration input message
vehConfigInMsg	VehicleConfigMsgPayload	spacecraft configuration input message

Class ThrForceMapping

class ThrForceMapping : public SysModel

Data structure for module to map a command torque onto thruster forces.

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

The module takes a body frame torque vector and projects it onto available RCS or DV thrusters.

Parameters:

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

Returns:

void

Eigen::Matrix3d getControlAxesB() const

Get the control axes in the body frame.

Returns:

3x3 matrix representing the control axes in the body frame.

void setControlAxesB(const Eigen::Matrix3d &axes)

Set the control axes in body frame.

Parameters:

axes – A 3x3 matrix representing the control axes in body frame.

Vector36d getThrForceMag() const

Get the thruster force magnitudes.

Returns:

A vector of thruster force magnitudes.

void setThrForceMag(const Vector36d &forceMag)

Set the thruster force magnitudes.

Parameters:

forceMag – A vector of thruster force magnitudes.

ThrForceSign getThrForceSign() const

Get the sign of the thruster forces.

Returns:

The sign of the thruster forces (POSITIVE or NEGATIVE).

void setThrForceSign(ThrForceSign sign)

Set the sign of the thruster forces.

Parameters:

sign – The sign of the thruster forces (POSITIVE or NEGATIVE).

double getAngErrThresh() const

Get the angular error threshold.

Returns:

The angular error threshold.

void setAngErrThresh(double thresh)

Set the angular error threshold.

Parameters:

The – new angular error threshold.

double getEpsilon() const

Get the epsilon value.

Returns:

The epsilon value.

void setEpsilon(double eps)

Set the epsilon value.

Parameters:

The – new epsilon value.

bool getUse2ndLoop() const

Check if the second least squares fitting loop should be used.

Returns:

True if the 2nd loop should be used, false otherwise.

void setUse2ndLoop(bool loopFlag)

Set if the second least squares fitting loop should be used.

Returns:

True if the 2nd loop should be used, false otherwise.

Public Members

Message<THRArrayCmdForceMsgPayload> thrForceCmdOutMsg

The name of the output thruster force message.

ReadFunctor<CmdTorqueBodyMsgPayload> cmdTorqueInMsg

The name of the vehicle control (Lr) Input message.

ReadFunctor<THRArrayConfigMsgPayload> thrConfigInMsg

The name of the thruster cluster Input message.

ReadFunctor<VehicleConfigMsgPayload> vehConfigInMsg

The name of the Input message.

VehicleConfigMsgPayload sc

spacecraft configuration message

BSKLogger bskLogger = {}

BSK Logging.