StarTracker.h

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/*
Star Tracker model header file
 
Author: Alex Reynolds
*/
/*
Metadata for MS GUI:
imdata = {"displayname" : "Star Tracker",
          "exclude" : False,
          "category" : "Sensors"
}
aliases = {"reference_frame" : "Att. Reference Frame",
           "bias" : "Bias",
           "cross_axis_accuracy" : "Cross Axis Accuracy",
           "twist_accuracy" : "Twist Axis Accuracy",
           "fov" : "FOV",
           "mount_frame" : "Spacecraft Body",
           "mount_position__mf" : "Body Mount Position",
           "mount_alignment_mf" : "Body Mount Alignment",
           "rad_tolerance" : "Rad. Tolerance",
           "rate_hz" : "Rate Hz",
           "seed_value" : "EXCLUDE",
           "meas_quat_sf_ref" : "Meas. Attitude",
           "perfect_quat_sf_ref" : "EXCLUDE",
           "operational_power_draw" : "Operational Power Draw",
           "mass" : "Mass",
           "current_power_draw" : "Current Power Draw",
}
*/
 
#ifndef MODELS_SENSORS_STAR_TRACKER_H
#define MODELS_SENSORS_STAR_TRACKER_H
 
#include "simulation/Model.h"
#include "dynamics/Euler321.h"
#include "dynamics/Quaternion.h"
#include "dynamics/DCM.h"
#include "frames/Frame.h"
#include "models/support/BiasNoiseModel.h"
#include "monitors/RateMonitor.h"
 
namespace warptwin {

    MODEL(StarTracker)
    public:
        // Model params
        //         NAME                     TYPE                    DEFAULT VALUE
        START_PARAMS
            SIGNAL(bias,                    clockwerk::Euler321,    clockwerk::Euler321({0.0, 0.0, 0.0}))
            SIGNAL(cross_axis_accuracy,     double,                 0.0)
            SIGNAL(twist_accuracy,          double,                 0.0)
            SIGNAL(fov,                     double,                 M_PI/6)
            SIGNAL(mass,                    double,                 0.0)
            SIGNAL(mount_frame,             Frame*,                 nullptr)
            SIGNAL(mount_position__mf,      CartesianVector3,       CartesianVector3({0.0, 0.0, 0.0}))
            SIGNAL(mount_alignment_mf,      clockwerk::Quaternion,  clockwerk::Quaternion({1.0, 0.0, 0.0, 0.0}))
            SIGNAL(rad_tolerance,           double,                 0.0)
            SIGNAL(reference_frame,         Frame*,                 nullptr)
            SIGNAL(rate_hz,                 int,                    0)
            SIGNAL(seed_value,              int,                    0)
            SIGNAL(operational_power_draw,  double,                 0.0)
        END_PARAMS
 
        // Model inputs
        //         NAME                     TYPE                    DEFAULT VALUE
        START_INPUTS
 
        END_INPUTS
 
        // Model outputs
        //         NAME                     TYPE                    DEFAULT VALUE
        START_OUTPUTS
            SIGNAL(output_time,             clockwerk::Time,        clockwerk::Time(0, 0))
            SIGNAL(meas_quat_sf_ref,        clockwerk::Quaternion,  clockwerk::Quaternion({1.0, 0.0, 0.0, 0.0})) 
            SIGNAL(perfect_quat_sf_ref,     clockwerk::Quaternion,  clockwerk::Quaternion({1.0, 0.0, 0.0, 0.0}))
            SIGNAL(current_power_draw,      double,                 0.0)
        END_OUTPUTS

        clockwerk::DataIO<Frame*> sensor_frame = clockwerk::DataIO<Frame*>(this, "sensor_frame", &_sensor_frame);

        warptwin::BiasNoiseModel* biasNoiseModel() {return &_sensor_bias_noise;}

        warptwin::RateMonitor* rateMonitor() {return &_rate_monitor;}
 
        int16 activate() override;
        int16 deactivate() override;
        
    protected:
        int16 start() override;
        int16 execute() override;

        void _configureInternal();

        Frame _sensor_frame;

        BiasNoiseModel _sensor_bias_noise;

        RateMonitor _rate_monitor;
 
        // Temporary DCM to hold temporary attitude calculations
        clockwerk::DCM _tmp_dcm;
 
        // Internal variable to hold full bias and noise
        clockwerk::Euler321 _total_error;
    };
 
}
 
#endif