imuComm#

Executive Summary#

Converts incoming IMU data in the sensor platform frame P to the spacecraft body frame B.

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
imuComInMsg	IMUSensorMsgPayload	imu input message in sensor platform frame
imuSensorOutMsg	IMUSensorBodyMsgPayload	imu output message in spacecraft body frame

User Guide#

The only variable that must be set is the DCM from the platform frame P to the body frame B, dcm_BP.

Class ImuComm#

class ImuComm : public SysModel#

module configuration message

Public Functions

void reset(uint64_t callTime) override#

This method resets the module.

Parameters:

configData – The configuration data associated with the OD filter
callTime – The clock time at which the function was called (nanoseconds)
moduleID – The ID associated with the configData

Returns:

void

void updateState(uint64_t callTime) override#

This method takes the raw sensor data from the coarse sun sensors and converts that information to the format used by the IMU nav.