horizonOpNav#
Executive Summary#
Converter that takes a limb message and camera information and outputs a relative position to the object. This algorithm was developed by J. Christian.
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.
Msg Variable Name |
Msg Type |
Description |
|---|---|---|
opNavOutMsg |
OpNavMsgPayload |
output navigation message for relative position |
cameraConfigInMsg |
CameraConfigMsgPayload |
camera config input message |
attInMsg |
NavAttMsgPayload |
attitude input message |
limbInMsg |
OpNavLimbMsgPayload |
limb input message |
Class HorizonOpNav#
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class HorizonOpNav : public SysModel#
The configuration structure for the horizon OpNav module.
Public Functions
-
void reset(uint64_t callTime) override#
This resets the module to original states.
- Parameters:
callTime – The clock time at which the function was called (nanoseconds)
- Returns:
void
-
void updateState(uint64_t callTime) override#
This method reads in the camera and circle messages and extracts navigation data from them. It outputs the heading (norm and direction) to the celestial body identified in the inertial frame. It provides the heading to the most robust circle identified by the image processing algorithm.
- Parameters:
callTime – The clock time at which the function was called (nanoseconds)
- Returns:
void
Public Members
-
Message<OpNavMsgPayload> opNavOutMsg#
[-] output navigation message for relative position
-
ReadFunctor<CameraConfigMsgPayload> cameraConfigInMsg#
camera config input message
-
ReadFunctor<NavAttMsgPayload> attInMsg#
attitude input message
-
ReadFunctor<OpNavLimbMsgPayload> limbInMsg#
limb input message
-
int32_t planetTarget#
The planet targeted (None = 0, Earth = 1, Mars = 2, Jupiter = 3 are allowed)
-
double noiseSF#
A scale factor to control measurement noise.
-
BSKLogger bskLogger = {}#
BSK Logging.
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void reset(uint64_t callTime) override#