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CubeComputer HIL

Class name: D2S2.Model.Satellite.CubeSpace.CubeComputer5Hil Library: CubeSpaceLibrary

Inheritance CubeComputer5Hil : CubeComputer5ModelBase : SatelliteElectricalComponent : SatellitePhysicalComponent : SatelliteComponent : ModelBase Implements ISatelliteComponent,ISatellitePhysicalComponent,ISatelliteElectricalComponent,IInitialisable,IDisposable

Details

Simulation model for connecting to the Gen2 CubeComputer, running control and estimation algorithms remotely.

When utilised in conjunction with the CubeADCS FM or DM (development model) core, in hardware in the loop (HIL) mode, it can be a fully representative EM FlatSat without the need for physical actuators and sensors. In this instance, D2S2 will emulate space conditions to convincingly simulate the ADCS hardware in orbit. Customers can also utilise the CubeADCS DM core to develop their own OBC<>ADCS software interface.

Property Description
Fss0 Model dependency link to a fine sun sensor.
Fss1 Model dependency link to a fine sun sensor.
Fss2 Model dependency link to a fine sun sensor.
Fss3 Model dependency link to a fine sun sensor.
Hs0 Model dependency link to a Earth horizon sensor.
Hs1 Model dependency link to a Earth horizon sensor.
CoarseSunSensor Model dependency link to a set of 10 coarse sun sensors.
Mag0 Model dependency link to a CubeMag magnetometer.
Mag1 Model dependency link to a CubeMag magnetometer.
Mtq0 Model dependency link to a magnetorquer.
Mtq1 Model dependency link to a magnetorquer.
Mtq2 Model dependency link to a magnetorquer.
Rwl0 Model dependency link to a reaction wheel.
Rwl1 Model dependency link to a reaction wheel.
Rwl2 Model dependency link to a reaction wheel.
Rwl3 Model dependency link to a reaction wheel.
ExtGyr0 Model dependency link to an external 3-axis rate sensor.
ExtGyr1 Model dependency link to an external 3-axis rate sensor.
Str0 Model dependency link to a star tracker.
Str1 Model dependency link to a star tracker.
ExtSensor0 Model dependency link to a generic sensor.
ExtSensor1 Model dependency link to a generic sensor.
GnssReceiver Model dependency link to a GNSS receiver.

Initial Value Properties

Property Description
UseSimMode (Force Simulation Mode) Set ADCS run mode to 'Simulation' before starting a simulation (as opposed to normal 'Enabled' run-mode).
ConfigMustMatch (Configuration Must Match) If set, ADCS configuration is requested from the remote CubeComputer, and compared to the current scenario. Otherwise the remove CubeComputer's ADCS configuration will be set to match the scenario.
HilInterface (Interface) Communications interface selection for HIL.
Position (Position) Position [m]
CentreOfMass (Centre of Mass) Centre of mass [m]
Mass (Mass) Mass [kg]
MomentOfInertia (Moment of Inertia) Moment of inertia matrix [kgm2]

Input Properties

Property Description
ComPortName (COM Port) Communications port name to use for HIL connection. (Applies to HUB and UART communications interface).
CanDeviceName (CAN USB Port) CAN device name for HIL connection. (Only applies to CAN communications interface).
CanDestID (CubeComputer CAN ID) CAN destination ID for HIL connection. (Only applies to CAN communications interface).
CanSrcID (D2S2 CAN ID) CAN source ID for HIL connection. (Only applies to CAN communications interface).
Connected (Connected) HIL connection state. Set this to TRUE to attempt a HIL connection.
SyncMaxRetry (Maximum Sync Retries) Maximum number of retry attempts when trying to synchronise simulator with CubeComputer processing loop.
ControllerConfig (Controller Configuration) Controller configuration of the control program running on the CubeComputer.
EstimatorConfig (Estimator Configuration) Estimator configuration of the control program running on the CubeComputer.
SatelliteConfig (Satellite Configuration) Satellite configuration of the control program running on the CubeComputer.
MountConfig (Mounting Configuration) Mounting configuration of the control program running on the CubeComputer.
OrbitSatParams (Satellite Orbit Parameters) Satellite orbit configuration of the control program running on the CubeComputer.
OrbitTargetParams (Target Orbit Parameters) Target satellite orbit configuration of the control program running on the CubeComputer.
MagMainConfig (Main Magnetometer Calibration) MAG0 configuration (calibration correction) of the control program running on the CubeComputer.
MagRedConfig (Redundant Magnetometer Calibration) MAG1 configuration (calibration correction) of the control program running on the CubeComputer.
NodeSelectionConfig (Node Selection Configuration) Node selection configuration of the control program running on the CubeComputer.
RwConfig (Reaction Wheel Configuration) Reaction wheel configuration of the control program running on the CubeComputer.
MtqConfig (Magnetorquer Configuration) Magnetorquer configuration of the control program running on the CubeComputer.
Asgp4Config (ASGP4 Configuration) Adaptive SGP4 configuration of the control program running on the CubeComputer.
ReferenceRpy (Reference RPY) Reference angles to which attitude is controlled in ConXYZwheel control mode.
ReferenceRotation (Reference Rotation Angle) Offset rotation angle to rotate around in ConGndTrack, ConSatTrack, ConMoonTrack, ConIrcTrack.
ReferenceTarget (Reference Target) Geographic coordinates for target to track, when using ConTgtTrack, ConTgtSteer, ConGndTrack, ConYawTarget, ConRollTarget or ConYawTargetBest control modes.
ReferenceIrcVector (Reference IRC Vector) Inertial vector to control attitude to when using ConIrcTrack control mode.
ReferenceFmcParam (FMC Parameters) Parameters for FMC imaging. Applies only when using ConFmcTarget control mode.
OpenLoopWheelSpeeds (Open-loop Wheel Commands) Open-loop wheel speed command to apply directly to wheels. (Only valid when selected control mode does not make use of wheels).
OpenLoopWheelMomentum (Open-loop RW Momentum Command) Open-loop satellite momentum command for reaction wheels to follow. (Only valid when control mode is ConHxyzRW).
OpState (Selected OpState) Operational state.
ControlMode (Selected Control Mode) Attitude control mode.
EstimationMode (Selected Estimation Mode) Attitude estimation mode.
OrbitMode (Selected Orbit Mode) Orbit estimation mode.

State Properties

Property Description
HilUpdateMissed (Sync Error (remote)) Indication that processing iteration on the remote CubeComputer occurred without a simulation update.
SyncError (Sync Error (local)) Indication that the simulator could not synchronise with the remote CubeComputer's processing loop.
RetryNeeded (Loop Retry Needed) Indication that the simulator could synchronise with the remote CubeComputer's processing loop, but that it was necessary to re-transmit the same data more than once.
IsConnected (Is Remote ADCS connected) Indication that HIL interface is connected.
LoopDeltaTime (ADCS inter-loop time) Time between CubeComputer processing loop iterations.
D2s2UpdateTime (D2S2 update time) Time it takes for the simulator to update its state, propagate dynamics and generate sensor measurements.
AdcsUpdateTime (CubeComputerHil update time) Time it takes to synchronise with remote CubeComputer, and transmit simulated sensor measurements.
Sync1Time (Sync1 time (ADCS to go busy)) Time it takes to for the CubeComputer state to change from idle to busy, at start of synchronisation.
Sync2Time (Sync2 time (ADCS to go idle)) Time it takes to for the CubeComputer state to change from busy to idle, as part of synchronisation.
CommsTime (Comms time) Time it takes to transmit simulated sensor measurements to the CubeComputer and retrieve actuator commands over the HIL communications interface.
OpStateState (Active OpState) Operational State.
EstimationModeState (Active estimation mode) Attitude estimation mode.
ControlModeState (Active control mode) Attitude control mode.
OrbitModeState (Active orbit mode) Orbit estimation mode.
NavSource (Navigation Source) Source of position and velocity data.
EstimatedState (Estimated Kinematic State) Satellite position, velocity, attitude and angular rates as estimated by the CubeComputer control program.
Mtq0CmdOnTime (MTQ0 on-time command) Magnetorquer MTQ0 command.
Mtq1CmdOnTime (MTQ1 on-time command) Magnetorquer MTQ1 command.
Mtq2CmdOnTime (MTQ2 on-time command) Magnetorquer MTQ2 command.
Rwl0CmdSpeed (RWL0 speed command) Reaction wheel RWL0 speed command.
Rwl1CmdSpeed (RWL1 speed command) Reaction wheel RWL1 speed command.
Rwl2CmdSpeed (RWL2 speed command) Reaction wheel RWL2 speed command.
Rwl3CmdSpeed (RWL3 speed command) Reaction wheel RWL3 speed command.
FmcStage (FMC Stage) FMC stage (applicable only when using ConFmcTarget control mode).
Asgp4BatchCtr (ASGP4 batch counter) Current batch counter for adaptive SGP4 processing.
Asgp4PosDelta (ASGP4 position delta) Average error between ASGP4 orbit position and GNSS measurements during last batch update.
Asgp4Error (ASGP4 position error) Indication that GNSS position differs too much from current ASGP4 estimated position.
EstimatedPosError (Position Error) The difference between true (simulated) and estimated position.
AttitudeEstimationError (Estimated Attitude Error (AKE)) The difference between true (simulated) and estimated attitude angles.
AttitudeControlError (Attitude Control Error) The difference between true (simulated) and commanded or reference attitude angles.
TargetTrackPointingError (Target Pointing Error) The angle error between configured Target tracking SBC vector and SBC-referenced vector to target
SunPointingError (Sun Pointing Error) The angle error between configured sun pointing SBC vector and SBC-referenced vector to sun
IrcPointingError (IRC Pointing Error) The angle error between configured IRC tracking SBC vector and SBC-referenced equivalent IRC reference vector
MoonPointingError (Moon Pointing Error) The angle error between configured Moon tracking SBC vector and SBC-referenced vector to moon
SatTrackError (Satellite Pointing Error) The angle error between configured satellite tracking SBC vector and SBC-referenced vector to target satellite
AngularRateUnit (GYR0 Measured Angular Rate) Angular rate as measured by the internal GYR0 rate sensor.
AngularRateError (GYR0 Angular Rate Error) Difference between true angular rate and internal GYR0 gyroscope measurement. This includes bias drift and measurement noise.
Orientation No information available
PowerConsumption (Power Consumption) Current power consumption [W]