rwNullSpace_C

Executive Summary

This module uses the Reaction Wheel (RW) null space to slow down the wheels. The resulting motor torques are super imposed on top of the attitude feedback control RW motor torques. 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.

Figure 1: rwNullSpace() Module I/O Illustration

Module I/O Messages

Msg Variable Name	Msg Type	Description
rwMotorTorqueInMsg	RwMotorTorqueMsgPayload	RW motor torque input message
rwSpeedsInMsg	RWSpeedMsgPayload	RW speed message
rwDesiredSpeedsInMsg	RWSpeedMsgPayload	(optional) input message with the desired RW speeds
rwConfigInMsg	RWConstellationMsgPayload	RW constellation configuration input message
rwMotorTorqueOutMsg	RwMotorTorqueMsgPayload	RW motor torque output message