Module: rateMsgConverter

Executive Summary

The purpose of this module is to read in the IMU sensor body message from message type IMUSensorBodyMsgPayload, and store it in the output message of type NavAttMsgPayload. The output message of type NavAttMsgPayload is used as a common attitude input message by the FSW modules. This output message is first zeroed, and then the rate vector is copied into the variable omega_BN_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

navRateOutMsg

NavAttMsgPayload

attitude output message

imuRateInMsg

IMUSensorBodyMsgPayload

attitude input message


Functions

void SelfInit_rateMsgConverter(rateMsgConverterConfig *configData, int64_t moduleID)

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

Parameters:
  • configData – The configuration data associated with this module

  • moduleID – The Basilisk module identifier

Returns:

void

void Update_rateMsgConverter(rateMsgConverterConfig *configData, uint64_t callTime, int64_t moduleID)

This method performs a time step update of the module.

Parameters:
  • configData – The configuration data associated with the module

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

  • moduleID – The Basilisk module identifier

Returns:

void

void Reset_rateMsgConverter(rateMsgConverterConfig *configData, uint64_t callTime, int64_t moduleID)

This method performs a complete reset of the module. Local module variables that retain time varying states between function calls are reset to their default values.

Parameters:
  • configData – The configuration data associated with the module

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

  • moduleID – The Basilisk module identifier

Returns:

void

struct rateMsgConverterConfig
#include <rateMsgConverter.h>

Top level structure for the sub-module routines.

Public Members

NavAttMsg_C navRateOutMsg

attitude output message*/

IMUSensorBodyMsg_C imuRateInMsg

attitude Input message*/

BSKLogger *bskLogger

BSK Logging.