Refactor GaussMarkov sensor noise handling

src/simulation/sensors/coarseSunSensor/coarseSunSensor.cpp

@@ -61,6 +61,8 @@ CoarseSunSensor::CoarseSunSensor()
     this->sunVisibilityFactor.shadowFactor = 1.0;
     this->sunDistanceFactor = 1.0;
     this->dcm_PB.setIdentity(3,3);
+    this->propagationMatrix.resize(1);
+    this->propagationMatrix(0) = 1.0;
     return;
 }
 
@@ -170,6 +172,9 @@ void CoarseSunSensor::Reset(uint64_t CurrentSimNanos)
     satBounds(0,1) = this->maxOutput;
     this->saturateUtility.setBounds(satBounds);
 
+    // Set up noise model with stored propagation matrix
+    this->noiseModel.setPropMatrix(this->propagationMatrix);
+    this->faultNoiseModel.setPropMatrix(this->propagationMatrix);
 }
 
 void CoarseSunSensor::readInputMessages()
@@ -435,3 +440,28 @@ void CSSConstellation::appendCSS(CoarseSunSensor* newSensor) {
     sensorList.push_back(newSensor);
     return;
 }
+
+/*!
+    Setter for `AMatrix` used for error propagation
+    @param propMatrix Matrix to set
+*/
+void CoarseSunSensor::setAMatrix(const Eigen::Matrix<double, -1, 1, 0, -1, 1>& propMatrix)
+{
+    if(propMatrix.rows() != 1 || propMatrix.cols() != 1) {
+        bskLogger.bskLog(BSK_ERROR, "CoarseSunSensor: Propagation matrix must be 1x1");
+        return;
+    }
+    this->propagationMatrix = propMatrix;
+    // Set the propagation matrix for both noise models
+    this->noiseModel.setPropMatrix(propMatrix);
+    this->faultNoiseModel.setPropMatrix(propMatrix);
+}
+
+/*!
+    Getter for `AMatrix` used for error propagation
+    @return Current matrix
+*/
+Eigen::Matrix<double, -1, 1, 0, -1, 1> CoarseSunSensor::getAMatrix() const
+{
+    return this->propagationMatrix;
+}

src/simulation/sensors/coarseSunSensor/coarseSunSensor.h

@@ -64,7 +64,7 @@ class CoarseSunSensor: public SysModel {
     void scaleSensorValues();  //!< scale the sensor values
     void applySaturation();     //!< apply saturation effects to sensed output (floor and ceiling)
     void writeOutputMessages(uint64_t Clock); //!< @brief method to write the output message to the system
-    
+
 public:
     ReadFunctor<SpicePlanetStateMsgPayload> sunInMsg; //!< [-] input message for sun data
     ReadFunctor<SCStatesMsgPayload> stateInMsg;   //!< [-] input message for spacecraft state
@@ -88,7 +88,7 @@ class CoarseSunSensor: public SysModel {
     double              kellyFactor;            //!< [-] Kelly curve fit for output cosine curve
     double              fov;                    //!< [-] rad, field of view half angle
     Eigen::Vector3d     r_B;                    //!< [m] position vector in body frame
-    Eigen::Vector3d     r_PB_B;                 //!< [m] misalignment of CSS platform wrt spacecraft body frame 
+    Eigen::Vector3d     r_PB_B;                 //!< [m] misalignment of CSS platform wrt spacecraft body frame
     double              senBias;                //!< [-] Sensor bias value
     double              senNoiseStd;            //!< [-] Sensor noise value
     double              faultNoiseStd;          //!< [-] Sensor noise value if CSSFAULT_RAND is triggered
@@ -99,6 +99,9 @@ class CoarseSunSensor: public SysModel {
     int                 CSSGroupID=-1;          //!< [-] (optional) CSS group id identifier, -1 means it is not set and default is used
     BSKLogger bskLogger;                        //!< -- BSK Logging
 
+    void setAMatrix(const Eigen::Matrix<double, -1, 1, 0, -1, 1>& propMatrix);
+    Eigen::Matrix<double, -1, 1, 0, -1, 1> getAMatrix() const;
+
 private:
     SpicePlanetStateMsgPayload sunData;             //!< [-] Unused for now, but including it for future
     SCStatesMsgPayload stateCurrent;            //!< [-] Current SSBI-relative state
@@ -107,11 +110,12 @@ class CoarseSunSensor: public SysModel {
     GaussMarkov noiseModel;                     //! [-] Gauss Markov noise generation model
     GaussMarkov faultNoiseModel;                //! [-] Gauss Markov noise generation model exclusively for CSS fault
     Saturate saturateUtility;                   //! [-] Saturation utility
+    Eigen::Matrix<double, -1, 1, 0, -1, 1> propagationMatrix;  // Store the propagation matrix
 };
 
 //!@brief Constellation of coarse sun sensors for aggregating output information
-/*! This class is a thin container on top of the above coarse-sun sensor class.  
-It is used to aggregate the output messages of the coarse sun-sensors into a 
+/*! This class is a thin container on top of the above coarse-sun sensor class.
+It is used to aggregate the output messages of the coarse sun-sensors into a
 a single output for use by downstream models.*/
 class CSSConstellation: public SysModel {
  public:
@@ -120,7 +124,7 @@ class CSSConstellation: public SysModel {
     void Reset(uint64_t CurrentClock);          //!< Method for reseting the module
     void UpdateState(uint64_t CurrentSimNanos); //!< @brief [-] Main update method for CSS constellation
     void appendCSS(CoarseSunSensor *newSensor); //!< @brief [-] Method for adding sensor to list
-    
+
  public:
     Message<CSSArraySensorMsgPayload> constellationOutMsg;  //!< [-] CSS constellation output message
     std::vector<CoarseSunSensor *> sensorList;    //!< [-] List of coarse sun sensors in constellation