FRSCGen:
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Executes the fast reorientation system slew maneuver.
This is a combination of both the FRSProp and FRSTorque functions.
i.e. It computes the maneuver torque and updates the model at the
same rate.
Since version 2.
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Form:
[qrefto0, modelrate, tfrs, xmodel, umnvrf, umnvr, xf]
= FRSCGen( axis0, af, bf, cf, df, xmodel, tbbscale, qrefto0i,
umnvr, xf, dt, nhalf, rate, iner, maxaccel, i )
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Inputs
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axis0 (3,1) The maneuver axis unit vector
af (n,n) The shaping filter plant matrix
bf (n,1) The shaping filter input matrix
cf (1,n) The shaping filter measurement matrix
df (1,1) The shaping filter feedthrough matrix
xmodel (2,1) Initial model angle and rate (0,0)
tbbscale (1,1) Converts acceleration to torque
qrefto0i (4,1) Quaternion from sensor/axis to s/c at start
umnvr (1,1) Sign of the maneuver
xf (n,1) The shaping filter state
dt (1,1) The control time period
nhalf (1,1) Half the number of control periods in the maneuver
rate (3,1) The body rate
iner (3,3) The inertia matrix
maxaccel (1,1) The maximum acceleration
i (1,1) The maneuver step
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Outputs
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qrefto0 (4,1) Quaternion from reference to spacecraft axes
modelrate (3,1) The model body rate
tfrs (3,1) FRS torque
xmodel (2,1) Model angle and rate (0,0)
umnvrf (1,1) Maneuver acceleration command output of filter
umnvr (1,1) Sign of the maneuver
xf (n,1) The shaping filter state
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Children:
Common: Quaternion/AU2Q
Common: Quaternion/QMult
Math: Linear/Cross
