Analysis/120 momentum management

docs/source/Support/bskReleaseNotes.rst

@@ -25,6 +25,7 @@ Basilisk Release Notes
     - landing dynamics force/torque effector that computes the interaction between a CAD spacecraft model and a
       CAD asteroid or lunar surface terrain.
     - spacecraft charging related modules
+    - ability to integrate dynamics of multiple spacecraft simultaneously
     - support a way to do thread-safe messaging
     - ability to integrate Python Basilisk modules in the same task and process as C/C++ modules
     - automated documentation build system when code is pushed to the repo
@@ -47,6 +48,14 @@ Version |release|
   To convert prior script to use the new syntax, see :ref:`bskPrinciples-2` for the simple new
   syntaxt to add C-modules.
 - Modified :ref:`mrpFeedback` to enable the use of a modified control law, and added the integral control torque feedback output message.
+- Created :ref:`lambertSolver` module to solve Lambert's problem
+- Created :ref:`lambertPlanner` module to write the :ref:`lambertProblemMsgPayload` Lambert problem setup message
+- Created :ref:`lambertValidator` module to check if the solution from the :ref:`lambertSolver` module violates any
+constraints before a Delta-V is commanded.
+- Added :ref:`scenarioLambertSolver` scenario to illustrate the Lambert solver module package
+- Created :ref:`flybyPoint` to provide hill point reference during a flyby, and a related :ref:`scenarioFlybyPoint`.
+- Created :ref:`thrusterPlatformState` to map the thruster configuration information to body frame given the time-varying platform states.
+- Created :ref:`thrustCMEstimation` to perform online estimation of the CM using gimbaled thruster torque measurements.
 
 
 Version 2.2.0 (June 28, 2023)
@@ -66,12 +75,6 @@ Version 2.2.0 (June 28, 2023)
 - Updated :ref:`SmallBodyNavEKF` with several bug fixes. Removed spacecraft attitude estimation component.
 - Bug fix made to :ref:`eclipse`: Saturn, Jupiter, Uranus, and Neptune radii were incorrectly being assigned the
   radius of Mars.
-- Created :ref:`lambertSolver` module to solve Lambert's problem
-- Created :ref:`lambertPlanner` module to write the :ref:`lambertProblemMsgPayload` Lambert problem setup message
-- Created :ref:`lambertValidator` module to check if the solution from the :ref:`lambertSolver` module violates any
-  constraints before a Delta-V is commanded.
-- Added :ref:`scenarioLambertSolver` scenario to illustrate the Lambert solver module package
-- Created :ref:`flybyPoint` to provide hill point reference during a flyby, and a related :ref:`scenarioFlybyPoint`.
 - Added custom planet name to :ref:`eclipse` in case the user wants to use a body not contained within the module.
 - Removed all instances of using ``unitTestSupport.np2EigenVectorXd()``, as this function is now unneeded.
 - Created a :ref:`facetSRPDynamicEffector` dynamics module to calculate the B frame SRP force and torque acting on a
@@ -103,8 +106,7 @@ Version 2.2.0 (June 28, 2023)
 - Reworked how integrators are implemented. New Runge-Kutta integrators may
   now be added simply by specifying the relevant coefficients.
 - Added a scenario that showcases differences between integrators. See :ref:`scenarioIntegratorsComparison`
-- Created :ref:`thrusterPlatformState` to map the thruster configuration information to body frame given the
-  time-varying platform states.
+
 
 Version 2.1.7 (March 24, 2023)
 ------------------------------

examples/BskSim/BSK_SEPMasters.py

@@ -0,0 +1,155 @@
+#
+#  ISC License
+#
+#  Copyright (c) 2016, Autonomous Vehicle Systems Lab, University of Colorado at Boulder
+#
+#  Permission to use, copy, modify, and/or distribute this software for any
+#  purpose with or without fee is hereby granted, provided that the above
+#  copyright notice and this permission notice appear in all copies.
+#
+#  THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+#  WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+#  MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+#  ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+#  WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+#  ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+#  OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+#
+
+# Import architectural modules
+from Basilisk.utilities import SimulationBaseClass, macros as mc
+
+from Basilisk import __path__
+from Basilisk.fswAlgorithms import formationBarycenter
+
+# Get current file path
+import sys, os, inspect
+
+filename = inspect.getframeinfo(inspect.currentframe()).filename
+path = os.path.dirname(os.path.abspath(filename))
+bskPath = __path__[0]
+
+# Import Dynamics and FSW models
+sys.path.append(path + '/models')
+
+
+class BSKSim(SimulationBaseClass.SimBaseClass):
+    """
+    Main bskSim simulation class
+
+    Args:
+        numberSpacecraft (int): number of spacecraft
+        relativeNavigation (bool): whether the chief is the barycenter of the spacecraft formation
+        fswRate (float): [s] FSW update rate
+        dynRate (float): [s] dynamics update rate
+        envRate (float): [s] environment update rate
+        relNavRate (float): [s] relative navigation update rate
+
+    """
+
+    def __init__(self, numberSpacecraft, relativeNavigation=False, fswRate=0.1, platRefRate=0.1, dynRate=0.1, envRate=0.1, relNavRate=0.1):
+        self.dynRate = dynRate
+        self.fswRate = fswRate
+        self.platRefRate = platRefRate
+        self.envRate = envRate
+        self.relNavRate = relNavRate
+        self.numberSpacecraft = numberSpacecraft
+
+        # Create a sim module as an empty container
+        SimulationBaseClass.SimBaseClass.__init__(self)
+        self.SetProgressBar(True)
+
+        self.EnvModel = []
+        self.DynModels = []
+        self.FSWModels = []
+        self.EnvProcessName = None
+        self.DynamicsProcessName = []
+        self.FSWProcessName = []
+        self.envProc = None
+        self.dynProc = []
+        self.fswProc = []
+
+        self.environment_added = False
+        self.dynamics_added = False
+        self.fsw_added = False
+
+        # Set the formationBarycenter module if the flag is set to True
+        if relativeNavigation:
+            self.relNavProc = None
+            self.relativeNavigationModule = None
+            self.relativeNavigationTaskName = None
+            self.add_relativeNavigation()
+
+    def get_EnvModel(self):
+        assert (self.environment_added is True), "It is mandatory to use an environment model as an argument"
+        return self.EnvModel
+
+    def set_EnvModel(self, envModel):
+        self.environment_added = True
+        self.EnvProcessName = "EnvironmentProcess"
+        self.envProc = self.CreateNewProcess(self.EnvProcessName, 300)
+
+        # Add the environment class
+        self.EnvModel = envModel.BSKEnvironmentModel(self, self.envRate)
+
+    def get_DynModel(self):
+        assert (self.dynamics_added is True), "It is mandatory to use a dynamics model as an argument"
+        return self.DynModels
+
+    def set_DynModel(self, dynModel):
+        self.dynamics_added = True
+
+        # Add the dynamics classes
+        for spacecraftIndex in range(self.numberSpacecraft):
+            self.DynamicsProcessName.append("DynamicsProcess" + str(spacecraftIndex))  # Create simulation process name
+            self.dynProc.append(self.CreateNewProcess(self.DynamicsProcessName[spacecraftIndex], 200))  # Create process
+            self.DynModels.append(dynModel[spacecraftIndex].BSKDynamicModels(self, self.dynRate, spacecraftIndex))
+
+    def get_FswModel(self):
+        assert (self.fsw_added is True), "A flight software model has not been added yet"
+        return self.FSWModels
+
+    def set_FswModel(self, fswModel):
+        self.fsw_added = True
+
+        # Add the FSW classes
+        for spacecraftIndex in range(self.numberSpacecraft):
+            self.FSWProcessName.append("FSWProcess" + str(spacecraftIndex))  # Create simulation process name
+            self.fswProc.append(self.CreateNewProcess(self.FSWProcessName[spacecraftIndex], 100))  # Create process
+            self.FSWModels.append(fswModel[spacecraftIndex].BSKFswModels(self, self.fswRate, self.platRefRate, spacecraftIndex))
+
+    def add_relativeNavigation(self):
+        processName = "RelativeNavigation"
+        processTasksTimeStep = mc.sec2nano(self.relNavRate)
+        self.relativeNavigationTaskName = "relativeNavigationTask"
+
+        # Create an independt process for barycenter calculation
+        self.relNavProc = self.CreateNewProcess(processName, 150)
+        self.relNavProc.addTask(self.CreateNewTask(self.relativeNavigationTaskName, processTasksTimeStep), 20)
+
+        # Add the formationBarycenter module
+        self.relativeNavigationModule = formationBarycenter.FormationBarycenter()
+        self.relativeNavigationModule.ModelTag = "RelativeNavigation"
+        self.AddModelToTask(self.relativeNavigationTaskName, self.relativeNavigationModule, None, 0)
+
+class BSKScenario(object):
+    def __init__(self):
+        self.name = "scenario"
+
+    def configure_initial_conditions(self):
+        """
+            Developer must override this method in their BSK_Scenario derived subclass.
+        """
+        pass
+
+    def log_outputs(self):
+        """
+            Developer must override this method in their BSK_Scenario derived subclass.
+        """
+        pass
+
+    def pull_outputs(self, showPlots, spacecraftIndex):
+        """
+            Developer must override this method in their BSK_Scenario derived subclass.
+        """
+        pass

examples/BskSim/models/BSK_EnvironmentEarth.py

@@ -0,0 +1,98 @@
+#
+#  ISC License
+#
+#  Copyright (c) 2022, Autonomous Vehicle Systems Lab, University of Colorado at Boulder
+#
+#  Permission to use, copy, modify, and/or distribute this software for any
+#  purpose with or without fee is hereby granted, provided that the above
+#  copyright notice and this permission notice appear in all copies.
+#
+#  THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+#  WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+#  MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+#  ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+#  WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+#  ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+#  OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+#
+
+import numpy as np
+
+from Basilisk.utilities import macros as mc, simIncludeGravBody
+from Basilisk.simulation import ephemerisConverter, groundLocation, eclipse
+from Basilisk.topLevelModules import pyswice
+
+from Basilisk import __path__
+
+bskPath = __path__[0]
+
+
+class BSKEnvironmentModel:
+    """Defines the Earth Environment."""
+    def __init__(self, SimBase, envRate):
+        # Define empty class variables
+        self.mu = None
+        self.planetRadius = None
+        self.sun = None
+        self.earth = None
+
+        # Define process name, task name and task time-step
+        self.envTaskName = "EnvironmentTask"
+        processTasksTimeStep = mc.sec2nano(envRate)
+
+        # Create task
+        SimBase.envProc.addTask(SimBase.CreateNewTask(self.envTaskName, processTasksTimeStep))
+
+        # Instantiate Env modules as objects
+        self.gravFactory = simIncludeGravBody.gravBodyFactory()
+        self.ephemObject = ephemerisConverter.EphemerisConverter()
+
+        # Initialize all modules and write init one-time messages
+        self.InitAllEnvObjects()
+
+        # Add modules to environment task
+        SimBase.AddModelToTask(self.envTaskName, self.gravFactory.spiceObject, None, 200)
+        SimBase.AddModelToTask(self.envTaskName, self.ephemObject, None, 200)
+
+    # ------------------------------------------------------------------------------------------- #
+    # These are module-initialization methods
+
+    def SetGravityBodies(self):
+        """
+        Specify what gravitational bodies to include in the simulation.
+        """
+        # Create gravity bodies
+        gravBodies = self.gravFactory.createBodies(['sun', 'earth'])
+        gravBodies['sun'].isCentralBody = True
+        self.mu = self.gravFactory.gravBodies['sun'].mu
+        self.planetRadius = self.gravFactory.gravBodies['sun'].radEquator
+        self.sun = 0
+        self.earth = 1
+
+        # Override information with SPICE
+        timeInitString = "2021 MAY 04 07:47:48.965 (UTC)"
+        self.gravFactory.createSpiceInterface(bskPath + '/supportData/EphemerisData/',
+                                              timeInitString,
+                                              epochInMsg=True)
+        self.gravFactory.spiceObject.zeroBase = 'Earth'
+
+        # Add pyswice instances
+        pyswice.furnsh_c(self.gravFactory.spiceObject.SPICEDataPath + 'de430.bsp')  # solar system bodies
+        pyswice.furnsh_c(self.gravFactory.spiceObject.SPICEDataPath + 'naif0012.tls')  # leap second file
+        pyswice.furnsh_c(self.gravFactory.spiceObject.SPICEDataPath + 'de-403-masses.tpc')  # solar system masses
+        pyswice.furnsh_c(self.gravFactory.spiceObject.SPICEDataPath + 'pck00010.tpc')  # generic Planetary Constants
+
+    def SetEpochObject(self):
+        """
+        Add the ephemeris object to use with the SPICE library.
+        """
+
+        # self.epochMsg = self.gravFactory.epochMsg
+        self.ephemObject.ModelTag = 'EphemData'
+        self.ephemObject.addSpiceInputMsg(self.gravFactory.spiceObject.planetStateOutMsgs[self.sun])
+        self.ephemObject.addSpiceInputMsg(self.gravFactory.spiceObject.planetStateOutMsgs[self.earth])
+
+    # Global call to initialize every module
+    def InitAllEnvObjects(self):
+        self.SetGravityBodies()
+        self.SetEpochObject()