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

Thruster force mapping class.

Public Functions

ThrForceMapping() = default

Constructor.

~ThrForceMapping() = default

Destructor.

void reset(uint64_t callTime) override

Reset method.

Reset method for the BSK module adapter interface. This method also calls the algorithm reset method.

Parameters:

callTime – [ns] Time the method is called

Returns:

void

void updateState(uint64_t callTime) override

Update method.

Update method for the BSK module adapter interface. This method also calls the algorithm update method.

Parameters:

callTime – [ns] Time the method is called

Returns:

void

Eigen::Matrix3d getControlAxesB() const

Getter method for thruster control axes.

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)

Setter method for thruster control axes.

Set the control axes in body frame.

Parameters:

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

Vector36d getThrForceMag() const

Getter method for the thruster force magnitude.

Get the thruster force magnitudes.

Returns:

A vector of thruster force magnitudes.

void setThrForceMag(const Vector36d &forceMag)

Setter method for the thruster force magnitude.

Set the thruster force magnitudes.

Parameters:

forceMag – A vector of thruster force magnitudes.

ThrForceSign getThrForceSign() const

Getter method for the thruster force sign.

Get the sign of the thruster forces.

Returns:

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

void setThrForceSign(ThrForceSign sign)

Setter method for the thruster force sign.

Set the sign of the thruster forces.

Parameters:

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

double getAngErrThresh() const

Getter method for the angular error threshold.

Get the angular error threshold.

Returns:

The angular error threshold.

void setAngErrThresh(double thresh)

Setter method for the angular error threshold.

Set the angular error threshold.

Parameters:

The – new angular error threshold.

double getEpsilon() const

Getter method for the epsilon value.

Get the epsilon value.

Returns:

The epsilon value.

void setEpsilon(double eps)

Setter method for the epsilon value.

Set the epsilon value.

Parameters:

The – new epsilon value.

bool getUse2ndLoop() const

Getter method for whether the second least squares fitting loop should be used.

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)

Getter method for whether the second least squares fitting loop should be used.

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.

BSKLogger bskLogger = {}

BSK Logging.