#
# ISC License
#
# Copyright (c) 2016, Autonomous Vehicle Systems Lab, University of Colorado at Boulder
#
# Permission to use, copy, modify, and/or distribute this software for any
# purpose with or without fee is hereby granted, provided that the above
# copyright notice and this permission notice appear in all copies.
#
# THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
# WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
# MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
# ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
# WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
# ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
# OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
#
import math
import numpy as np
from Basilisk.architecture import messaging
from Basilisk.fswAlgorithms import (hillPoint, inertial3D, attTrackingError, mrpFeedback,
rwMotorTorque,
velocityPoint, mrpSteering, rateServoFullNonlinear,
sunSafePoint, cssWlsEst, lambertPlanner, lambertSolver, lambertValidator,
lambertSurfaceRelativeVelocity, lambertSecondDV,)
from Basilisk.utilities import RigidBodyKinematics as rbk
from Basilisk.utilities import fswSetupRW
from Basilisk.utilities import deprecated
from Basilisk.utilities import macros as mc
[docs]
class BSKFswModels:
"""Defines the bskSim FSW class"""
def __init__(self, SimBase, fswRate):
# define empty class variables
self.vcMsg = None
self.fswRwConfigMsg = None
self.cmdTorqueMsg = None
self.cmdTorqueDirectMsg = None
self.attRefMsg = None
self.attGuidMsg = None
self.cmdRwMotorMsg = None
self.dvBurnCmdMsg = None
# Define process name and default time-step for all FSW tasks defined later on
self.processName = SimBase.FSWProcessName
self.processTasksTimeStep = mc.sec2nano(fswRate)
# Create module data and module wraps
self.inertial3D = inertial3D.inertial3D()
self.inertial3D.ModelTag = "inertial3D"
self.hillPoint = hillPoint.hillPoint()
self.hillPoint.ModelTag = "hillPoint"
self.sunSafePoint = sunSafePoint.sunSafePoint()
self.sunSafePoint.ModelTag = "sunSafePoint"
self.velocityPoint = velocityPoint.velocityPoint()
self.velocityPoint.ModelTag = "velocityPoint"
self.cssWlsEst = cssWlsEst.cssWlsEst()
self.cssWlsEst.ModelTag = "cssWlsEst"
self.trackingError = attTrackingError.attTrackingError()
self.trackingError.ModelTag = "trackingError"
self.mrpFeedbackControl = mrpFeedback.mrpFeedback()
self.mrpFeedbackControl.ModelTag = "mrpFeedbackControl"
self.mrpFeedbackRWs = mrpFeedback.mrpFeedback()
self.mrpFeedbackRWs.ModelTag = "mrpFeedbackRWs"
self.mrpSteering = mrpSteering.mrpSteering()
self.mrpSteering.ModelTag = "MRP_Steering"
self.rateServo = rateServoFullNonlinear.rateServoFullNonlinear()
self.rateServo.ModelTag = "rate_servo"
self.rwMotorTorque = rwMotorTorque.rwMotorTorque()
self.rwMotorTorque.ModelTag = "rwMotorTorque"
self.lambertPlannerObject = lambertPlanner.LambertPlanner()
self.lambertPlannerObject.ModelTag = "LambertPlanner"
self.lambertSolverObject = lambertSolver.LambertSolver()
self.lambertSolverObject.ModelTag = "LambertSolver"
self.lambertValidatorObject = lambertValidator.LambertValidator()
self.lambertValidatorObject.ModelTag = "LambertValidator"
self.lambertSurfaceRelativeVelocityObject = lambertSurfaceRelativeVelocity.LambertSurfaceRelativeVelocity()
self.lambertSurfaceRelativeVelocityObject.ModelTag = "LambertSurfaceRelativeVelocity"
self.lambertSecondDvObject = lambertSecondDV.LambertSecondDV()
self.lambertSecondDvObject.ModelTag = "LambertSecondDV"
# create the FSW module gateway messages
self.setupGatewayMsgs(SimBase)
# Initialize all modules
self.InitAllFSWObjects(SimBase)
# Create tasks
SimBase.fswProc.addTask(SimBase.CreateNewTask("inertial3DPointTask", self.processTasksTimeStep), 20)
SimBase.fswProc.addTask(SimBase.CreateNewTask("hillPointTask", self.processTasksTimeStep), 20)
SimBase.fswProc.addTask(SimBase.CreateNewTask("sunSafePointTask", self.processTasksTimeStep), 20)
SimBase.fswProc.addTask(SimBase.CreateNewTask("velocityPointTask", self.processTasksTimeStep), 20)
SimBase.fswProc.addTask(SimBase.CreateNewTask("mrpFeedbackTask", self.processTasksTimeStep), 10)
SimBase.fswProc.addTask(SimBase.CreateNewTask("mrpSteeringRWsTask", self.processTasksTimeStep), 10)
SimBase.fswProc.addTask(SimBase.CreateNewTask("mrpFeedbackRWsTask", self.processTasksTimeStep), 10)
SimBase.fswProc.addTask(SimBase.CreateNewTask("lambertGuidanceFirstDV", self.processTasksTimeStep), 20)
SimBase.fswProc.addTask(SimBase.CreateNewTask("lambertGuidanceSecondDV", self.processTasksTimeStep), 20)
# Assign initialized modules to tasks
SimBase.AddModelToTask("inertial3DPointTask", self.inertial3D, 10)
SimBase.AddModelToTask("inertial3DPointTask", self.trackingError, 9)
SimBase.AddModelToTask("hillPointTask", self.hillPoint, 10)
SimBase.AddModelToTask("hillPointTask", self.trackingError, 9)
SimBase.AddModelToTask("sunSafePointTask", self.cssWlsEst, 10)
SimBase.AddModelToTask("sunSafePointTask", self.sunSafePoint, 9)
SimBase.AddModelToTask("velocityPointTask", self.velocityPoint, 10)
SimBase.AddModelToTask("velocityPointTask", self.trackingError, 9)
SimBase.AddModelToTask("mrpFeedbackTask", self.mrpFeedbackControl, 10)
SimBase.AddModelToTask("mrpSteeringRWsTask", self.mrpSteering, 10)
SimBase.AddModelToTask("mrpSteeringRWsTask", self.rateServo, 9)
SimBase.AddModelToTask("mrpSteeringRWsTask", self.rwMotorTorque, 8)
SimBase.AddModelToTask("mrpFeedbackRWsTask", self.mrpFeedbackRWs, 9)
SimBase.AddModelToTask("mrpFeedbackRWsTask", self.rwMotorTorque, 8)
SimBase.AddModelToTask("lambertGuidanceFirstDV", self.lambertPlannerObject, None, 10)
SimBase.AddModelToTask("lambertGuidanceFirstDV", self.lambertSolverObject, None, 9)
SimBase.AddModelToTask("lambertGuidanceFirstDV", self.lambertValidatorObject, None, 8)
SimBase.AddModelToTask("lambertGuidanceSecondDV", self.lambertSurfaceRelativeVelocityObject, None, 10)
SimBase.AddModelToTask("lambertGuidanceSecondDV", self.lambertSecondDvObject, None, 9)
# Create events to be called for triggering GN&C maneuvers
SimBase.fswProc.disableAllTasks()
SimBase.createNewEvent("initiateStandby", self.processTasksTimeStep, True,
["self.modeRequest == 'standby'"],
["self.fswProc.disableAllTasks()",
"self.FSWModels.zeroGateWayMsgs()",
"self.setAllButCurrentEventActivity('initiateStandby', True)"
])
SimBase.createNewEvent("initiateAttitudeGuidance", self.processTasksTimeStep, True,
["self.modeRequest == 'inertial3D'"],
["self.fswProc.disableAllTasks()",
"self.FSWModels.zeroGateWayMsgs()",
"self.enableTask('inertial3DPointTask')",
"self.enableTask('mrpFeedbackRWsTask')",
"self.setAllButCurrentEventActivity('initiateAttitudeGuidance', True)"
])
SimBase.createNewEvent("initiateAttitudeGuidanceDirect", self.processTasksTimeStep, True,
["self.modeRequest == 'directInertial3D'"],
["self.fswProc.disableAllTasks()",
"self.FSWModels.zeroGateWayMsgs()",
"self.enableTask('inertial3DPointTask')",
"self.enableTask('mrpFeedbackTask')",
"self.setAllButCurrentEventActivity('initiateAttitudeGuidanceDirect', True)"
])
SimBase.createNewEvent("initiateHillPoint", self.processTasksTimeStep, True,
["self.modeRequest == 'hillPoint'"],
["self.fswProc.disableAllTasks()",
"self.FSWModels.zeroGateWayMsgs()",
"self.enableTask('hillPointTask')",
"self.enableTask('mrpFeedbackRWsTask')",
"self.setAllButCurrentEventActivity('initiateHillPoint', True)"
])
SimBase.createNewEvent("initiateSunSafePoint", self.processTasksTimeStep, True,
["self.modeRequest == 'sunSafePoint'"],
["self.fswProc.disableAllTasks()",
"self.FSWModels.zeroGateWayMsgs()",
"self.enableTask('sunSafePointTask')",
"self.enableTask('mrpSteeringRWsTask')",
"self.setAllButCurrentEventActivity('initiateSunSafePoint', True)"
])
SimBase.createNewEvent("initiateVelocityPoint", self.processTasksTimeStep, True,
["self.modeRequest == 'velocityPoint'"],
["self.fswProc.disableAllTasks()",
"self.FSWModels.zeroGateWayMsgs()",
"self.enableTask('velocityPointTask')",
"self.enableTask('mrpFeedbackRWsTask')",
"self.setAllButCurrentEventActivity('initiateVelocityPoint', True)"])
SimBase.createNewEvent("initiateSteeringRW", self.processTasksTimeStep, True,
["self.modeRequest == 'steeringRW'"],
["self.fswProc.disableAllTasks()",
"self.FSWModels.zeroGateWayMsgs()",
"self.enableTask('hillPointTask')",
"self.enableTask('mrpSteeringRWsTask')",
"self.setAllButCurrentEventActivity('initiateSteeringRW', True)"])
SimBase.createNewEvent("initiateLambertGuidanceFirstDV", self.processTasksTimeStep, True,
["self.modeRequest == 'lambertFirstDV'"],
["self.fswProc.disableAllTasks()",
"self.FSWModels.zeroGateWayMsgs()",
"self.enableTask('hillPointTask')",
"self.enableTask('mrpSteeringRWsTask')",
"self.enableTask('lambertGuidanceFirstDV')",
"self.setAllButCurrentEventActivity('initiateLambertGuidanceFirstDV', True)"])
SimBase.createNewEvent("initiateLambertGuidanceSecondDV", self.processTasksTimeStep, True,
["self.modeRequest == 'lambertSecondDV'"],
["self.fswProc.disableAllTasks()",
"self.FSWModels.zeroGateWayMsgs()",
"self.enableTask('hillPointTask')",
"self.enableTask('mrpSteeringRWsTask')",
"self.enableTask('lambertGuidanceSecondDV')",
"self.setAllButCurrentEventActivity('initiateLambertGuidanceSecondDV', True)"])
# ------------------------------------------------------------------------------------------- #
# These are module-initialization methods
[docs]
def SetInertial3DPointGuidance(self):
"""Define the inertial 3D guidance module"""
self.inertial3D.sigma_R0N = [0.2, 0.4, 0.6]
messaging.AttRefMsg_C_addAuthor(self.inertial3D.attRefOutMsg, self.attRefMsg)
[docs]
def SetHillPointGuidance(self, SimBase):
"""Define the Hill pointing guidance module"""
self.hillPoint.transNavInMsg.subscribeTo(SimBase.DynModels.simpleNavObject.transOutMsg)
self.hillPoint.celBodyInMsg.subscribeTo(SimBase.DynModels.EarthEphemObject.ephemOutMsgs[0]) # earth
messaging.AttRefMsg_C_addAuthor(self.hillPoint.attRefOutMsg, self.attRefMsg)
[docs]
def SetSunSafePointGuidance(self, SimBase):
"""Define the sun safe pointing guidance module"""
self.sunSafePoint.imuInMsg.subscribeTo(SimBase.DynModels.simpleNavObject.attOutMsg)
self.sunSafePoint.sunDirectionInMsg.subscribeTo(self.cssWlsEst.navStateOutMsg)
self.sunSafePoint.sHatBdyCmd = [0.0, 0.0, 1.0]
messaging.AttGuidMsg_C_addAuthor(self.sunSafePoint.attGuidanceOutMsg, self.attGuidMsg)
[docs]
def SetVelocityPointGuidance(self, SimBase):
"""Define the velocity pointing guidance module"""
self.velocityPoint.transNavInMsg.subscribeTo(SimBase.DynModels.simpleNavObject.transOutMsg)
self.velocityPoint.celBodyInMsg.subscribeTo(SimBase.DynModels.EarthEphemObject.ephemOutMsgs[0])
self.velocityPoint.mu = SimBase.DynModels.gravFactory.gravBodies['earth'].mu
messaging.AttRefMsg_C_addAuthor(self.velocityPoint.attRefOutMsg, self.attRefMsg)
[docs]
def SetAttitudeTrackingError(self, SimBase):
"""Define the attitude tracking error module"""
self.trackingError.attNavInMsg.subscribeTo(SimBase.DynModels.simpleNavObject.attOutMsg)
self.trackingError.attRefInMsg.subscribeTo(self.attRefMsg)
messaging.AttGuidMsg_C_addAuthor(self.trackingError.attGuidOutMsg, self.attGuidMsg)
[docs]
def SetCSSWlsEst(self, SimBase):
"""Set the FSW CSS configuration information """
cssConfig = messaging.CSSConfigMsgPayload()
totalCSSList = []
nHat_B_vec = [
[0.0, 0.707107, 0.707107],
[0.707107, 0., 0.707107],
[0.0, -0.707107, 0.707107],
[-0.707107, 0., 0.707107],
[0.0, -0.965926, -0.258819],
[-0.707107, -0.353553, -0.612372],
[0., 0.258819, -0.965926],
[0.707107, -0.353553, -0.612372]
]
for CSSHat in nHat_B_vec:
CSSConfigElement = messaging.CSSUnitConfigMsgPayload()
CSSConfigElement.CBias = 1.0
CSSConfigElement.nHat_B = CSSHat
totalCSSList.append(CSSConfigElement)
cssConfig.cssVals = totalCSSList
cssConfig.nCSS = len(nHat_B_vec)
self.cssConfigMsg = messaging.CSSConfigMsg().write(cssConfig)
self.cssWlsEst.cssDataInMsg.subscribeTo(SimBase.DynModels.CSSConstellationObject.constellationOutMsg)
self.cssWlsEst.cssConfigInMsg.subscribeTo(self.cssConfigMsg)
[docs]
def SetMRPFeedbackControl(self, SimBase):
"""Set the MRP feedback module configuration"""
self.mrpFeedbackControl.guidInMsg.subscribeTo(self.attGuidMsg)
self.mrpFeedbackControl.vehConfigInMsg.subscribeTo(self.vcMsg)
messaging.CmdTorqueBodyMsg_C_addAuthor(self.mrpFeedbackControl.cmdTorqueOutMsg, self.cmdTorqueDirectMsg)
self.mrpFeedbackControl.K = 3.5
self.mrpFeedbackControl.Ki = -1.0 # Note: make value negative to turn off integral feedback
self.mrpFeedbackControl.P = 30.0
self.mrpFeedbackControl.integralLimit = 2. / self.mrpFeedbackControl.Ki * 0.1
[docs]
def SetMRPFeedbackRWA(self, SimBase):
"""Set the MRP feedback information if RWs are considered"""
self.mrpFeedbackRWs.K = 3.5
self.mrpFeedbackRWs.Ki = -1 # Note: make value negative to turn off integral feedback
self.mrpFeedbackRWs.P = 30.0
self.mrpFeedbackRWs.integralLimit = 2. / self.mrpFeedbackRWs.Ki * 0.1
self.mrpFeedbackRWs.vehConfigInMsg.subscribeTo(self.vcMsg)
self.mrpFeedbackRWs.rwSpeedsInMsg.subscribeTo(SimBase.DynModels.rwStateEffector.rwSpeedOutMsg)
self.mrpFeedbackRWs.rwParamsInMsg.subscribeTo(self.fswRwConfigMsg)
self.mrpFeedbackRWs.guidInMsg.subscribeTo(self.attGuidMsg)
messaging.CmdTorqueBodyMsg_C_addAuthor(self.mrpFeedbackRWs.cmdTorqueOutMsg, self.cmdTorqueMsg)
[docs]
def SetMRPSteering(self):
"""Set the MRP Steering module"""
self.mrpSteering.K1 = 0.05
self.mrpSteering.ignoreOuterLoopFeedforward = False
self.mrpSteering.K3 = 0.75
self.mrpSteering.omega_max = 1.0 * mc.D2R
self.mrpSteering.guidInMsg.subscribeTo(self.attGuidMsg)
[docs]
def SetRateServo(self, SimBase):
"""Set the rate servo module"""
self.rateServo.guidInMsg.subscribeTo(self.attGuidMsg)
self.rateServo.vehConfigInMsg.subscribeTo(self.vcMsg)
self.rateServo.rwParamsInMsg.subscribeTo(self.fswRwConfigMsg)
self.rateServo.rwSpeedsInMsg.subscribeTo(SimBase.DynModels.rwStateEffector.rwSpeedOutMsg)
self.rateServo.rateSteeringInMsg.subscribeTo(self.mrpSteering.rateCmdOutMsg)
messaging.CmdTorqueBodyMsg_C_addAuthor(self.rateServo.cmdTorqueOutMsg, self.cmdTorqueMsg)
self.rateServo.Ki = 5.0
self.rateServo.P = 150.0
self.rateServo.integralLimit = 2. / self.rateServo.Ki * 0.1
self.rateServo.knownTorquePntB_B = [0., 0., 0.]
[docs]
def SetVehicleConfiguration(self):
"""Set the spacecraft configuration information"""
vehicleConfigOut = messaging.VehicleConfigMsgPayload()
# use the same inertia in the FSW algorithm as in the simulation
vehicleConfigOut.ISCPntB_B = [900.0, 0.0, 0.0, 0.0, 800.0, 0.0, 0.0, 0.0, 600.0]
self.vcMsg = messaging.VehicleConfigMsg().write(vehicleConfigOut)
[docs]
def SetRWConfigMsg(self):
"""Set the RW device information"""
# Configure RW pyramid exactly as it is in the Dynamics (i.e. FSW with perfect knowledge)
rwElAngle = np.array([40.0, 40.0, 40.0, 40.0]) * mc.D2R
rwAzimuthAngle = np.array([45.0, 135.0, 225.0, 315.0]) * mc.D2R
wheelJs = 50.0 / (6000.0 * math.pi * 2.0 / 60)
fswSetupRW.clearSetup()
for elAngle, azAngle in zip(rwElAngle, rwAzimuthAngle):
gsHat = (rbk.Mi(-azAngle, 3).dot(rbk.Mi(elAngle, 2))).dot(np.array([1, 0, 0]))
fswSetupRW.create(gsHat, # spin axis
wheelJs, # kg*m^2
0.2) # Nm uMax
self.fswRwConfigMsg = fswSetupRW.writeConfigMessage()
[docs]
def SetRWMotorTorque(self):
"""Set the RW motor torque information"""
controlAxes_B = [
1.0, 0.0, 0.0
, 0.0, 1.0, 0.0
, 0.0, 0.0, 1.0
]
self.rwMotorTorque.controlAxes_B = controlAxes_B
self.rwMotorTorque.vehControlInMsg.subscribeTo(self.cmdTorqueMsg)
messaging.ArrayMotorTorqueMsg_C_addAuthor(self.rwMotorTorque.rwMotorTorqueOutMsg, self.cmdRwMotorMsg)
self.rwMotorTorque.rwParamsInMsg.subscribeTo(self.fswRwConfigMsg)
[docs]
def SetLambertPlannerObject(self, SimBase):
"""Set the lambert planner object."""
self.lambertPlannerObject.navTransInMsg.subscribeTo(SimBase.DynModels.simpleNavObject.transOutMsg)
[docs]
def SetLambertSolverObject(self):
"""Set the lambert solver object."""
self.lambertSolverObject.lambertProblemInMsg.subscribeTo(self.lambertPlannerObject.lambertProblemOutMsg)
[docs]
def SetLambertValidatorObject(self, SimBase):
"""Set the lambert validator object."""
self.lambertValidatorObject.navTransInMsg.subscribeTo(SimBase.DynModels.simpleNavObject.transOutMsg)
self.lambertValidatorObject.lambertProblemInMsg.subscribeTo(self.lambertPlannerObject.lambertProblemOutMsg)
self.lambertValidatorObject.lambertPerformanceInMsg.subscribeTo(
self.lambertSolverObject.lambertPerformanceOutMsg)
self.lambertValidatorObject.lambertSolutionInMsg.subscribeTo(self.lambertSolverObject.lambertSolutionOutMsg)
self.lambertValidatorObject.dvBurnCmdOutMsg = self.dvBurnCmdMsg
[docs]
def SetLambertSurfaceRelativeVelocityObject(self, SimBase):
"""Set the lambert surface relative velocity object."""
self.lambertSurfaceRelativeVelocityObject.lambertProblemInMsg.subscribeTo(
self.lambertPlannerObject.lambertProblemOutMsg)
self.lambertSurfaceRelativeVelocityObject.ephemerisInMsg.subscribeTo(
SimBase.DynModels.EarthEphemObject.ephemOutMsgs[0])
[docs]
def SetLambertSecondDvObject(self):
"""Set the lambert second DV object."""
self.lambertSecondDvObject.lambertSolutionInMsg.subscribeTo(self.lambertSolverObject.lambertSolutionOutMsg)
self.lambertSecondDvObject.desiredVelocityInMsg.subscribeTo(
self.lambertSurfaceRelativeVelocityObject.desiredVelocityOutMsg)
self.lambertSecondDvObject.dvBurnCmdOutMsg = self.dvBurnCmdMsg
# Global call to initialize every module
[docs]
def InitAllFSWObjects(self, SimBase):
"""Initialize all the FSW objects"""
# note that the order in which these routines are called is important.
# To subscribe to a message that message must already exit.
self.SetVehicleConfiguration()
self.SetRWConfigMsg()
self.SetInertial3DPointGuidance()
self.SetHillPointGuidance(SimBase)
self.SetCSSWlsEst(SimBase)
self.SetSunSafePointGuidance(SimBase)
self.SetVelocityPointGuidance(SimBase)
self.SetAttitudeTrackingError(SimBase)
self.SetMRPFeedbackControl(SimBase)
self.SetMRPFeedbackRWA(SimBase)
self.SetMRPSteering()
self.SetRateServo(SimBase)
self.SetRWMotorTorque()
self.SetLambertPlannerObject(SimBase)
self.SetLambertSolverObject()
self.SetLambertValidatorObject(SimBase)
self.SetLambertSurfaceRelativeVelocityObject(SimBase)
self.SetLambertSecondDvObject()
[docs]
def setupGatewayMsgs(self, SimBase):
"""create C-wrapped gateway messages such that different modules can write to this message
and provide a common input msg for down-stream modules"""
self.cmdTorqueMsg = messaging.CmdTorqueBodyMsg_C()
self.cmdTorqueDirectMsg = messaging.CmdTorqueBodyMsg_C()
self.attRefMsg = messaging.AttRefMsg_C()
self.attGuidMsg = messaging.AttGuidMsg_C()
self.cmdRwMotorMsg = messaging.ArrayMotorTorqueMsg_C()
# C++ wrapped gateway messages
self.dvBurnCmdMsg = messaging.DvBurnCmdMsg()
self.zeroGateWayMsgs()
# connect gateway FSW effector command msgs with the dynamics
SimBase.DynModels.extForceTorqueObject.cmdTorqueInMsg.subscribeTo(self.cmdTorqueDirectMsg)
SimBase.DynModels.rwStateEffector.rwMotorCmdInMsg.subscribeTo(self.cmdRwMotorMsg)
[docs]
def zeroGateWayMsgs(self):
"""Zero all the FSW gateway message payloads"""
self.cmdTorqueMsg.write(messaging.CmdTorqueBodyMsgPayload())
self.cmdTorqueDirectMsg.write(messaging.CmdTorqueBodyMsgPayload())
self.attRefMsg.write(messaging.AttRefMsgPayload())
self.attGuidMsg.write(messaging.AttGuidMsgPayload())
self.cmdRwMotorMsg.write(messaging.ArrayMotorTorqueMsgPayload())
self.dvBurnCmdMsg.write(messaging.DvBurnCmdMsgPayload())