Feature/357 update thr firing remainder module #129
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JulianHammerl
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@JulianHammerl, should the commit that defaulted the timestep to 2. even show up in the history? I am not an expert on interactive rebasing or atomic commits... so this is purely a question. |
@codyallard28 I decided against squashing these commits together because the purpose of the first commit is to include the module logic into the first time step, and the purpose of the second commit is to make the time step of 2 seconds changeable. I am happy to squash them together though if desired @patkenneally |
patkenneally
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Sep 1, 2023
src/fswAlgorithms/effectorInterfaces/thrFiringRemainder/_UnitTest/test_thrFiringRemainder.py
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The first time the module is called, there is no information on the control period. In the past, the module would simply turn all thrusters on or off depending on baseThrustState, which could lead to undesired behavior because the remaining logic of the module is skipped (which takes into account COM offsets via the THRArrayCmdForceMsg). The only difference between the first and all other time steps is the unknown control period, so now the control period is simply set to 2 seconds for the first time step, while still executing the rest of the module.
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Description
The logic of the first module call was changed. Now, the only difference between the first module call and all subsequent calls is the computation of the control period (fsw rate). The remaining module code is now always executed (also for first call), so any center of mass offset information coming from the THRArrayCmdForceMsg is now always considered.
Verification
The UnitTest was updated accordingly.
Documentation
The documentation was updated accordingly.
Future work
None.