Update documentation

src/fswAlgorithms/effectorInterfaces/thrFiringRemainder/_Documentation/Basilisk-thrFiringRemainder-2019-03-28.tex → src/fswAlgorithms/effectorInterfaces/thrFiringRemainder/_Documentation/Basilisk-thrFiringRemainder-2023-08-07.tex

@@ -71,6 +71,8 @@
 \hline
 1.0 & First Release & H. Schaub & 2019-03-28\\
 \hline
+1.1 & Update first module call functionality & J. Hammerl & 2023-08-07\\
+\hline
 
 \end{longtable}
 }

src/fswAlgorithms/effectorInterfaces/thrFiringRemainder/_Documentation/secModuleDescription.tex

@@ -23,9 +23,7 @@ \subsection{Reset() Functionality}
 \subsection{Update() Functionality}
 The goal of the {\tt update()} method is to read in the current attitude control thruster force message and map these into a thruster on-time output message.  Let $\Delta t_{\text{min}}$ be the minimum on-time that can be implemented with a thruster.  If the requested on-time is less than $\Delta t_{\text{min}}$, then the requested thruster on-time is clipped to zero.  In the following algorithm unimplemented fractional on-times less than $\Delta t_{\text{min}}$ are tracked and accumulated, providing additional pointing accuracy.  For example, if the minimum on-time is 20 milli-seconds, an on-time algorithm without remainder calculation would create a deadband about the 20 milli-second control request.  With the remainder logic, if 5 milli-second on-time requests are computed, these are accumulated such that every 4$^{\text{th}}$ control step a 20 milli-second burn is requested.  This reduces the deadband behavior of the thruster and achieves better pointing.  In this example the 5 milli-second un-implemented on-times are accumulated in the variable $\Delta t_{\text{partial}}$.  
 
-If the {\tt update()} method is called for the first time after reset, then there is no knowledge of the control period $\Delta t$.  In this case the thruster on-time values are set either to 0 (on-pulsing case) or 2 seconds (off-pulsing case).  After writing out this message the module is exited.  This logic is essence turns off the thruster-based attitude control for one control period. 
-
-If this is a repeated call of the {\tt update()} method then the control period $\Delta t$ is evaluated by differencing the current time with the prior call time.  Next a loop goes over each installed thruster to map the requested force $F_{i}$ into an on-time $t_{i}$.  The following logic is used.  
+If the {\tt update()} method is called for the first time after reset, then there is no knowledge of the control period $\Delta t$.  In this case the control period is set to 2 seconds, unless the module parameter \texttt{defaultControlPeiod} is set to a different value. If this is a repeated call of the {\tt update()} method then the control period $\Delta t$ is evaluated by differencing the current time with the prior call time.  Next a loop goes over each installed thruster to map the requested force $F_{i}$ into an on-time $t_{i}$.  The following logic is used.  
 \begin{itemize}
 	\item If off-pulsing is used then $F_{i}\le 0$ and we set $$F_{i} += F_{\text{max}}$$ to a reduced thrust to achieve the negative $F_{i}$ force.  
 	\item Next, if $F_{i} < 0$ then it set to be equal to zero.  This can occur if an off-pulsing request is larger than the maximum thruster force magnitude $F_{\text{max}}$.  

src/fswAlgorithms/effectorInterfaces/thrFiringRemainder/thrFiringRemainder.rst

@@ -2,7 +2,7 @@ Executive Summary
 -----------------
 
 A thruster force message is read in and converted to a thruster on-time output message. The module ensures the requested on-time is at least as large as the thruster's minimum on time.  If not then the on-time is zeroed, but the unimplemented thrust time is kept as a remainder calculation.  If these add up to reach the minimum on time, then a thruster pulse is requested.  If the thruster on time is larger than the control period, then an on-time that is 1.1 times the control period is requested. More information can be found in the
-:download:`PDF Description </../../src/fswAlgorithms/effectorInterfaces/thrFiringRemainder/_Documentation/Basilisk-thrFiringRemainder-2019-03-28.pdf>`.
+:download:`PDF Description </../../src/fswAlgorithms/effectorInterfaces/thrFiringRemainder/_Documentation/Basilisk-thrFiringRemainder-2023-08-07.pdf>`.
 The paper `Steady-State Attitude and Control Effort Sensitivity Analysis of Discretized Thruster Implementations <https://doi.org/10.2514/1.A33709>`__ includes a detailed discussion on the Remainder Trigger algorithm and compares it to other thruster firing methods.