Module: 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.


Functions

void SelfInit_imuProcessTelem(IMUConfigData *configData, int64_t moduleID)

This method initializes the configData for theIMU sensor interface. It checks to ensure that the inputs are sane and then creates the output message

Parameters:
  • configData – The configuration data associated with the IMU sensor interface

  • moduleID – The ID associated with the configData

Returns:

void

void Reset_imuProcessTelem(IMUConfigData *configData, uint64_t callTime, int64_t moduleId)

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 Update_imuProcessTelem(IMUConfigData *configData, uint64_t callTime, int64_t moduleID)

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

Parameters:
  • configData – The configuration data associated with the IMU interface

  • callTime – The clock time at which the function was called (nanoseconds)

  • moduleID – The ID associated with the configData

Returns:

void

struct IMUConfigData
#include <imuComm.h>

module configuration message

Public Members

double dcm_BP[9]

Row major platform 2 bdy DCM

IMUSensorMsg_C imuComInMsg

imu input message

IMUSensorBodyMsg_C imuSensorOutMsg

imu output message

IMUSensorBodyMsgPayload outMsgBuffer

Output data structure

BSKLogger *bskLogger

BSK Logging.