.. _BskSim_scenarios_scenario_AttSteering:

scenario_AttSteering
====================

Overview
--------

This script sets up a 6-DOF spacecraft orbiting Earth. The goal of this tutorial is to demonstrate
how to configure and use the :ref:`mrpSteering` module with a rate sub-servo system
the new BSK_Sim architecture.

The script is found in the folder ``xmera/examples/BskSim/scenarios`` and executed by using::

      python3 scenario_AttSteering.py

The simulation mimics the basic simulation simulation in the earlier tutorial in
:ref:`scenarioAttitudeSteering`.

The simulation layout is shown in the following illustration.

.. image:: /_images/static/test_scenario_AttSteering.svg
   :align: center

The initial conditions for the scenario are the same as found within :ref:`scenario_FeedbackRW`.

Custom Dynamics Configurations Instructions
-------------------------------------------

The dynamics setup is the same as in :ref:`scenario_FeedbackRW`.

Custom FSW Configurations Instructions
--------------------------------------

To configure the desired "steeringRW" FSW mode the user must add the following modules to :ref:`BSK_FSW.py <BSK_FSW>`.



Illustration of Simulation Results
----------------------------------

::

    showPlots = True

.. image:: /_images/Scenarios/scenario_AttSteering_attitudeErrorNorm.svg
   :align: center

.. image:: /_images/Scenarios/scenario_AttSteering_rwMotorTorque.svg
   :align: center

.. image:: /_images/Scenarios/scenario_AttSteering_rateError.svg
   :align: center

.. image:: /_images/Scenarios/scenario_AttSteering_rwSpeed.svg
   :align: center