Source code for fswSetupThrusters

#
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#  Copyright (c) 2016, Autonomous Vehicle Systems Lab, University of Colorado at Boulder
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#   FSW Setup Utilities for Thrusters
#

from Basilisk.architecture import messaging


thrList = []


[docs] def create( rThrust_B, tHatThrust_B, Fmax ): """ This function is called to setup a FSW RW device in python, and adds it to the of RW devices in rwList[]. This list is accessible from the parent python script that imported this rw library script, and thus any particular value can be over-ridden by the user. Args: rThrust_B: position of thruster in spacecraft body frame tHatThrust_B: direction of thrust vector in B frame Fmax: maximum thrust force value """ global thrList # create the blank Thruster object thrPointer = messaging.THRConfigMsgPayload() thrPointer.rThrust_B = rThrust_B thrPointer.tHatThrust_B = tHatThrust_B thrPointer.maxThrust = Fmax # add RW to the list of RW devices thrList.append(thrPointer) return
[docs] def writeConfigMessage(): """ This function should be called after all devices are created with create() It creates the C-class container for the array of RW devices, and attaches this container to the spacecraft object :return: """ global thrList thrClass = messaging.THRArrayConfigMsgPayload() i = 0 for item in thrList: messaging.ThrustConfigArray_setitem(thrClass.thrusters, i, item) i += 1 thrClass.numThrusters = len(thrList) thrConfigInMsg = messaging.THRArrayConfigMsg().write(thrClass) thrConfigInMsg.this.disown() return thrConfigInMsg
def clearSetup(): global thrList thrList = [] return def getNumOfDevices(): return len(thrList)