Refactor/489 thruster platform reference #490
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rcalaon
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enhancement
schaubh
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Nov 16, 2023
src/fswAlgorithms/effectorInterfaces/thrusterPlatformReference/thrusterPlatformReference.h
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src/fswAlgorithms/effectorInterfaces/thrusterPlatformReference/thrusterPlatformReference.h
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src/fswAlgorithms/effectorInterfaces/thrusterPlatformReference/thrusterPlatformReference.c
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src/fswAlgorithms/effectorInterfaces/thrusterPlatformReference/thrusterPlatformReference.rst
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Description
This refactor consists in providing the
thrusterPlatformReferencemodule with an input thruster configuration msg containing the configuration information of the thruster with respect to the platform frame. A similar message is provided as an output, containing the reference thruster configuration info in body-frame coordinates. Commit 1 implements these changes in the module.An integral feedback term is provided as an input parameter. When the input is negative, or not provided, the integral feedback term is not added, and the control law defaults to a proportional type.
Two input parameters are defined to bound the absolute value of the reference angles. When the computed references exceed these bounds, they are set equal to the bounds. When the inputs are negative, the bounding of the reference angles is bypassed.
Commit 2 addresses an issue in the former version of the module, making sure that the momentum dumping routine is run only when the RW speed message is connected. Commit 3 implements the bounding of the reference angles. Commit 4 computes the integral feedback term and adds it to the control law. Commits 5 and 6 update the unit test and documentation, respectively.
Verification
A unit test is provided to test the correctness of the output, reflecting the most recent changes.
Documentation
Documentation is updated to reflect the changes.
Future work
No future work is foreseen at the moment.