.. _BskSim_scenarios_scenario_ClosedLoopManeuver:

scenario_ClosedLoopManeuver
===========================

Overview
--------

This BSK-Sim scenario demonstrates how a Delta-V maneuver can be performed using thrusters. A few minutes before the
maneuver, the attitude of the spacecraft is brought to the DV attitude, i.e. the DV thrusters of the spacecraft are
aligned with the DV direction. This is done using the reaction wheels and the modules :ref:`dvGuidance`,
:ref:`mrpFeedback` and :ref:`rwMotorTorque`. During the maneuver, the attitude os controlled with the DV thrusters and
the modules :ref:`dvGuidance`, :ref:`mrpFeedback`, :ref:`thrForceMapping` and :ref:`thrFiringRemainder`. The DV
maneuver is executed using the :ref:`dvExecuteGuidance` module. The maneuver starts at a specified burn start time and
ends once the desired DV has been accumulated.

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

      python3 scenario_ClosedLoopManeuver.py


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

Delta-V thrusters were added to the :ref:`BSK_Dynamics` framework. The properties of the DV thrusters can be changed
there, but keep in mind to also change the thruster properties in :ref:`BSK_FSW`.


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

Delta-V thrusters were added to the :ref:`BSK_FSW` framework. The properties of the DV thrusters can be changed
there, but keep in mind to also change the thruster properties in :ref:`BSK_Dynamics`. Make sure to call
`FswModel.SetAttThrusters(useDvThrusters = True)` if it is desired to use the DV thrusters for attitude control,
otherwise the ACS thrusters will be used by default.

The necessary modules for attitude control with thrusters, i.e. :ref:`thrForceMapping` and :ref:`thrFiringRemainder`
were added, and the module properties can be changed there. An additional MRP feedback module was added for thrusters.
Modules for the DV execution, i.e. :ref:`dvGuidance` for DV attitude control and :ref:`dvExecuteGuidance` for maneuver
execution were also added and can be adjusted in :ref:`BSK_FSW`.

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

::

    showPlots = True

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

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

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

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

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

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

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

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