AVSLab · schaubh · Oct 31, 2023 · Oct 30, 2023 · Oct 30, 2023 · Oct 30, 2023
@@ -57,7 +57,7 @@
     magModule.planetRadius = 6371.2 * 1000  # meters
 
 The python support file ``simSetPlanetEnvironment.py`` provides helper
-functions to setup command magnetic field
+functions to use magnetic field
 environments including the centered dipole models for Mercury,
 Earth, Jupiter, Saturn, Uranus and Neptune.
 

@@ -56,7 +56,7 @@
 The default planet's position vector is assumed to be the inertial
 frame origin and an identity orientation matrix.
 If a different planet state message is required this can be
-specified through the optional input message ``planetPosInMsgName``.
+specified through the optional input message ``planetPosInMsg``.
 
 As with :ref:`scenarioMagneticFieldCenteredDipole`, the magnetic
 field module can produce the magnetic field for a vector of spacecraft
@@ -66,7 +66,7 @@
 If this is not set, then the BSK
 default epoch time is used.  To set a general epoch time, the module
 can read in an epoch message with a
-gregorian UTC date.  This is set using the the support method
+gregorian UTC date.  This is set using the support method
 ``timeStringToGregorianUTCMsg``.
 
 The WMM model is driven of a time variable that is a decimal year value.
@@ -76,7 +76,7 @@
 ``epochDateFractionalYear`` variable.
 
 Every time a spacecraft is added to the magnetic field module, an
-automated output message name is created. For `magModule` is "WMM_0_data"
+extra output message is autmatically created. For `magModule` is "WMM_0_data"
 as the ModelTag string is ``WMM`` and the spacecraft number is 0.
 This output name is created in the  ``addSpacecraftToModel()``
 function.  However, if the default output name is used for the second

@@ -0,0 +1,3 @@
+\begin{thebibliography}{}
+
+\end{thebibliography}
@@ -1,12 +1,6 @@
 % !TEX root = ./Basilisk-cssWlsEst-20180429.tex
 
 \section{User Guide}
-\subsection{Input/Output Messages}
-The module has 1 required input messages, and 1 output message:
-\begin{itemize}
-	\item {\tt navStateOutMsgName} -- This output message, of type {\tt NavAttIntMsg}, provides the attitude navigation message containing the estimated sun heading vector {\tt vehSunPntBdy}, as well as the partially observed body rate vector {\tt omega\_BN\_B}.
-	\item {\tt cssDataInMsgName} -- This input message, of type {\tt CSSArraySensorIntMsg}, receives the CSS sensor message
-\end{itemize}
 
 \subsection{Module Parameters and States}
 The module has the following parameter that can be configured:

@@ -50,8 +50,8 @@ \section{Test Parameters}
 \hline
 \textbf{Output Value Tested}     & \textbf{States Tolerated Error} & \textbf{Covariance Tolerated Error} \\ \hline
 Test 0	        & \input{AutoTex/toleranceValue00}        		 &  N/A                   \\
-Test 1	        & \input{AutoTex/toleranceValue22}        		 &  N/A                   \\
-Test 2	   & \input{AutoTex/toleranceValue44}     			 &  Increase                           \\
+%Test 1	        & \input{AutoTex/toleranceValue22}        		 &  N/A                   \\
+%Test 2	   & \input{AutoTex/toleranceValue44}     			 &  Increase                           \\
 Test 3	     & \input{AutoTex/toleranceValue11}     			 &  Increase                    \\
 Test 4	 & \input{AutoTex/toleranceValue33}     			 &  N/A            		     \\\hline
 \end{tabular}
@@ -68,8 +68,8 @@ \section{Test Results}
 		\textbf{Check} 			&\textbf{Pass/Fail} \\ 
 		\hline
 	   Test 0	   			& \input{AutoTex/passFail00} \\ 
-	   Test 1	   			& \input{AutoTex/passFail22} \\ 
-	   Test 2	   			& \input{AutoTex/passFail44} \\ 
+%	   Test 1	   			& \input{AutoTex/passFail22} \\ 
+%	   Test 2	   			& \input{AutoTex/passFail44} \\ 
 	   Test 3	   			& \input{AutoTex/passFail11} \\ 
 	   Test 4	   			& \input{AutoTex/passFail33} \\ 
 	   \hline\hline

@@ -40,14 +40,5 @@ \subsection{Filter Set-up, initialization, and I/O}
  \texttt{   filterObject.gyroFilt = [lpDataUse, lpDataUse, lpDataUse] }\\
 \end{itemize}
 
-The messages must also be set as such:
 
-\begin{itemize}
-\item    \texttt{ filterObject.navStateOutMsgName = "inertial$\_$state$\_$estimate"}
-\item    \texttt{ filterObject.filtDataOutMsgName = "inertial$\_$filter$\_$data"}
-\item   \texttt{ filterObject.massPropsInMsgName = "adcs$\_$config$\_$data"}
-\item   \texttt{filterObject.rwSpeedsInMsgName = "reactionwheel$\_$output$\_$states"}
-\item   \texttt{ filterObject.rwParamsInMsgName = "rwa$\_$config$\_$data$\_$parsed"}
-\item   \texttt{  filterObject.gyrBuffInMsgName = "gyro$\_$buffer$\_$data"}
-\end{itemize}
 
@@ -184,7 +184,7 @@ def filterMethods():
     module.massPropsInMsg.subscribeTo(vcInMsg)
     module.rwSpeedsInMsg.subscribeTo(rwSpeedInMsg)
     module.rwParamsInMsg.subscribeTo(rwConfigInMsg)
-    module.gyrBuffInMsgName.subscribeTo(gyroInMsg)
+    module.gyrBuffInMsg.subscribeTo(gyroInMsg)
 
     # Star Tracker Read Message and Order method
     unitTestSim.InitializeSimulation()
@@ -272,7 +272,7 @@ def stateUpdateInertialAttitude(show_plots):
     module.massPropsInMsg.subscribeTo(vcInMsg)
     module.rwSpeedsInMsg.subscribeTo(rwSpeedInMsg)
     module.rwParamsInMsg.subscribeTo(rwConfigInMsg)
-    module.gyrBuffInMsgName.subscribeTo(gyroInMsg)
+    module.gyrBuffInMsg.subscribeTo(gyroInMsg)
 
     unitTestSim.InitializeSimulation()
 
@@ -410,7 +410,7 @@ def statePropInertialAttitude(show_plots):
     module.massPropsInMsg.subscribeTo(vcInMsg)
     module.rwSpeedsInMsg.subscribeTo(rwSpeedInMsg)
     module.rwParamsInMsg.subscribeTo(rwConfigInMsg)
-    module.gyrBuffInMsgName.subscribeTo(gyroInMsg)
+    module.gyrBuffInMsg.subscribeTo(gyroInMsg)
 
 
     unitTestSim.InitializeSimulation()
@@ -519,7 +519,7 @@ def stateUpdateRWInertialAttitude(show_plots):
     module.massPropsInMsg.subscribeTo(vcInMsg)
     module.rwSpeedsInMsg.subscribeTo(rwSpeedInMsg)
     module.rwParamsInMsg.subscribeTo(rwConfigInMsg)
-    module.gyrBuffInMsgName.subscribeTo(gyroInMsg)
+    module.gyrBuffInMsg.subscribeTo(gyroInMsg)
 
     unitTestSim.InitializeSimulation()
 
@@ -691,7 +691,7 @@ def statePropRateInertialAttitude(show_plots):
     module.massPropsInMsg.subscribeTo(vcInMsg)
     module.rwSpeedsInMsg.subscribeTo(rwSpeedInMsg)
     module.rwParamsInMsg.subscribeTo(rwConfigInMsg)
-    module.gyrBuffInMsgName.subscribeTo(gyroInMsg)
+    module.gyrBuffInMsg.subscribeTo(gyroInMsg)
 
     unitTestSim.InitializeSimulation()
     st1InMsg.write(stMessage1, int(1 * 1E9))
@@ -821,25 +821,6 @@ def faultScenarios(show_plots):
 
     STList = [ST1Data]
 
-    # make input messages but don't write to them
-    # rwSpeedInMsg = messaging.RWSpeedMsg()
-    # rwConfigInMsg = messaging.RWArrayConfigMsg()
-    # gyroInMsg = messaging.AccDataMsg()
-
-    # connect messages
-    # moduleConfig.STDatasStruct.STMessages[0].stInMsg.subscribeTo(st1InMsg)
-    # moduleConfig.massPropsInMsg.subscribeTo(vcInMsg)
-    # moduleConfig.rwSpeedsInMsg.subscribeTo(rwSpeedInMsg)
-    # moduleConfig.rwParamsInMsg.subscribeTo(rwConfigInMsg)
-    # moduleConfig.gyrBuffInMsgName.subscribeTo(gyroInMsg)
-    #
-    # moduleConfigClean1.navStateOutMsgName = "inertial_state_estimate"
-    # moduleConfigClean1.filtDataOutMsgName = "inertial_filter_data"
-    # moduleConfigClean1.massPropsInMsgName = "adcs_config_data"
-    # moduleConfigClean1.rwSpeedsInMsgName = "reactionwheel_output_states"
-    # moduleConfigClean1.rwParamsInMsgName = "rwa_config_data_parsed"
-    # moduleConfigClean1.gyrBuffInMsgName = "gyro_buffer_data"
-
     moduleConfigClean1.alpha = 0.02
     moduleConfigClean1.beta = 2.0
     moduleConfigClean1.kappa = 0.0

@@ -62,8 +62,8 @@ void Reset_inertialUKF(InertialUKFConfig *configData, uint64_t callTime,
     if (!RWSpeedMsg_C_isLinked(&configData->rwSpeedsInMsg)) {
         _bskLog(configData->bskLogger, BSK_ERROR, "Error: inertialUKF.rwSpeedsInMsg wasn't connected.");
     }
-    if (!AccDataMsg_C_isLinked(&configData->gyrBuffInMsgName)) {
-        _bskLog(configData->bskLogger, BSK_ERROR, "Error: inertialUKF.gyrBuffInMsgName wasn't connected.");
+    if (!AccDataMsg_C_isLinked(&configData->gyrBuffInMsg)) {
+        _bskLog(configData->bskLogger, BSK_ERROR, "Error: inertialUKF.gyrBuffInMsg wasn't connected.");
     }
 
     /*! - Read static RW config data message and store it in module variables */
@@ -208,7 +208,7 @@ void Update_inertialUKF(InertialUKFConfig *configData, uint64_t callTime,
 
     /* read input messages */
     configData->localConfigData = VehicleConfigMsg_C_read(&configData->massPropsInMsg);
-    gyrBuffer = AccDataMsg_C_read(&configData->gyrBuffInMsgName);
+    gyrBuffer = AccDataMsg_C_read(&configData->gyrBuffInMsg);
     configData->rwSpeeds = RWSpeedMsg_C_read(&configData->rwSpeedsInMsg);
     timeOfRWSpeeds = RWSpeedMsg_C_timeWritten(&configData->rwSpeedsInMsg);
     Read_STMessages(configData);

@@ -57,7 +57,7 @@ typedef struct {
     VehicleConfigMsg_C massPropsInMsg;              //!< [-] The name of the mass props message
     RWArrayConfigMsg_C rwParamsInMsg;               //!< The name of the RWConfigParams input message
     RWSpeedMsg_C rwSpeedsInMsg;                     //!< [-] The name of the input RW speeds message
-    AccDataMsg_C gyrBuffInMsgName;                  //!< [-] Input message buffer from MIRU
+    AccDataMsg_C gyrBuffInMsg;                      //!< [-] Input message buffer from MIRU
 
 
 	size_t numStates;             //!< [-] Number of states for this filter

@@ -34,7 +34,7 @@ provides information on what this message is used for.
     * - rwSpeedsInMsg
       - :ref:`RWSpeedMsgPayload`
       - reaction wheel speed input message.  Can be an empty message if no RW are included.
-    * - gyrBuffInMsgName
+    * - gyrBuffInMsg
       - :ref:`AccDataMsgPayload`
       - rate gyro input message
 
@@ -0,0 +1,121 @@
+\NeedsTeXFormat{LaTeX2e}[1994/06/01]
+\ProvidesClass{IAC}[2015/03/30 v1.0 AVS Lab Software document class]
+\typeout{TYPESETTING in AVS Lab Software  Report...}
+
+\LoadClass[titlepage,11pt]{article}
+
+%
+%	Load in required packages
+%
+\RequirePackage{graphicx}
+\RequirePackage{bm}
+\RequirePackage{overcite}
+\RequirePackage{amssymb}
+\RequirePackage{amsmath}
+\RequirePackage{subfigure}
+\RequirePackage{longtable}
+\RequirePackage{mathabx}
+\RequirePackage{mathtools}
+\RequirePackage{color}
+\RequirePackage[normalem]{ulem}
+\RequirePackage{lastpage}
+%\RequirePackage[original,runin]{abstract}
+\RequirePackage[total={6.5in,9in},top=1in, left=1in]{geometry}
+\RequirePackage[colorlinks=false,hyperfootnotes=false]{hyperref}
+\RequirePackage{url}
+\RequirePackage{titling}
+\RequirePackage[compact]{titlesec}
+\RequirePackage[margin=0pt,font=small,labelfont=bf,labelsep=colon,indention=1.5em]{caption}
+%\RequirePackage{ragged2e}
+\RequirePackage[perpage,ragged,hang]{footmisc}
+\RequirePackage[absolute]{textpos}
+
+\renewcommand*{\familydefault}{\sfdefault}
+\renewcommand*{\thefootnote}{\fnsymbol{footnote}}
+
+
+%
+%	setup header and footers
+%
+\RequirePackage{fancyhdr}
+\fancyhead{}
+\fancyfoot{}
+\fancyhead[L]{\footnotesize Doc. ID: Basilisk-\ModuleName}
+\fancyhead[R]{\footnotesize Page \thepage \ of \pageref{LastPage}}
+\renewcommand{\headrulewidth}{0pt}
+\renewcommand{\footrulewidth}{0pt}
+
+\setcounter{secnumdepth}{5}
+\setcounter{tocdepth}{5}
+
+
+%
+%	setup makeCover command
+%
+\newcommand{\makeCover}{
+
+\begin{textblock*}{6.625in}(2.25in,0.975in)
+	\includegraphics[width=3.5in]{Figures/Basilisk-Logo.pdf}
+\end{textblock*}
+
+
+
+\begin{textblock*}{6.5in}(1in,3.5in)
+\centering
+\LARGE\bfseries \noindent \submiterInstitute\\
+\vskip 0.1in
+\noindent Basilisk Technical Memorandum\\
+\large\noindent Document ID: Basilisk-\ModuleName\\
+\vskip 0.1in
+\noindent \MakeUppercase{\subject}
+\end{textblock*}
+
+~\\
+\vskip 4.25in
+{\renewcommand{\arraystretch}{2}
+\noindent
+\begin{tabular}{|p{1.6in}|p{4.7in}|}
+\hline
+~Prepared by & \preparer\\
+\hline
+\end{tabular}
+}
+\vskip 0.2in
+
+{\renewcommand{\arraystretch}{2}
+\noindent
+\begin{tabular}{|p{6.46in}|}
+\hline
+~{\bfseries Status:}~~ \status \\
+\hline
+~{\bfseries Scope/Contents} \\
+\hline
+\summary \\
+\hline
+\end{tabular}
+}
+\vskip 0.2in
+}
+
+%
+%	setup float environment spacing
+%
+\setlength\textfloatsep{5pt}
+\setlength{\abovecaptionskip}{3pt}
+\renewcommand{\figurename}{Fig.}
+
+%
+%	cancel the date formatting
+%
+\date{}
+
+
+%
+%	Rename the Bibliography section label
+%
+\renewcommand{\refname}{REFERENCES}
+
+%
+%	Miscellaneous definitions
+%
+
@@ -164,13 +164,6 @@ \subsection{User initialization}
  \texttt{Filter.state =[0.0, 0.0, 1.0, 0.0, 0.0]}
 \end{itemize}
 
-The messages must also be set as such:
-
-\begin{itemize}
-\item    \texttt{ filterObject.opnavOutMsgName = "opnav\_state\_estimate"}
-\item    \texttt{ filterObject.filtDataOutMsgName = "heading$\_$filter$\_$data"}
-\item   \texttt{ filterObject.opnavDataInMsgName = "opnav\_sensor\_data"}
-\end{itemize}
 
 \subsection{Inputs and Outputs}
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,3 @@
		\begin{thebibliography}{}

		\end{thebibliography}