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Attitude model #194

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merged 58 commits into from
Jan 19, 2024
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0610412
visualization code from examples, added thermal sim to get familiar (…
Mr-Medina Dec 25, 2023
fa7c867
added Earth-Centered Inertial Frame (ECI) to Roll-Pitch-Yaw (RPY) ref…
Mr-Medina Dec 26, 2023
01e9f74
added function to transform a vector from ECI to RPY. (also added a f…
Mr-Medina Dec 26, 2023
0242126
added transformation matrix for RPY to body fixed frames
Mr-Medina Dec 26, 2023
86c55ca
RPY to body fixed vector transformation functions added
Mr-Medina Dec 26, 2023
e967cc4
v1 reference frame transfer file. cleaned up comments. inputs: lists …
Mr-Medina Dec 26, 2023
53a8a34
Some cleaning up
Mr-Medina Dec 26, 2023
3993c6a
added functions for user to identify disturbances (aero, gravitationa…
Mr-Medina Dec 28, 2023
07047e4
created disturbance function file
Mr-Medina Dec 28, 2023
935ccc4
disturbance torque in attitude model
Mr-Medina Dec 28, 2023
dfa12e5
added case for zero euler angles (for ref frame transfers)
Mr-Medina Dec 28, 2023
7cd2e31
initial onditions added
Mr-Medina Dec 28, 2023
e2b5351
Now able to call attitude in rad and deg from spacecraft actor.
Mr-Medina Dec 28, 2023
ce85d15
added some dynamics to attitude model (not complete at all, needs to …
Mr-Medina Dec 28, 2023
eb4ba79
added more dynamics but I think its wrong (too simple)
Mr-Medina Dec 28, 2023
da4ba34
added has_attitude_model function
Mr-Medina Dec 28, 2023
3b214e4
fixed error converting angles
Mr-Medina Dec 28, 2023
70c9a61
added get_previous_position function
Mr-Medina Dec 28, 2023
8ebaeea
update atitude model in paseos
Mr-Medina Dec 28, 2023
0a0cdad
fixing ref frame transformations
Mr-Medina Dec 28, 2023
3cea066
TODO add pointing vector in inertial frame, updating extra component …
Mr-Medina Dec 28, 2023
608ef32
test file to see if model makes some sensez
Mr-Medina Dec 28, 2023
dd38d0c
added function (might be deleted later) and fixed some stuff
Mr-Medina Dec 29, 2023
62e97f5
play python file to plot attitude. Works with plotting Nadir vector
Mr-Medina Dec 29, 2023
b4080b3
commit attitude model before changing most of it (to get dynamics cor…
Mr-Medina Dec 29, 2023
8a67834
play file fixed
Mr-Medina Dec 29, 2023
385ccb0
tried to apply correct dynamics. Not there yet
Mr-Medina Dec 30, 2023
e28964e
get_euler, angles can now also be negative. Right handed system applied
Mr-Medina Dec 30, 2023
438eca6
Update base_actor.py
Mr-Medina Dec 30, 2023
4c0457b
Update spacecraft_actor.py
Mr-Medina Dec 30, 2023
7f7f893
Update play.py
Mr-Medina Dec 30, 2023
1494585
Update attitude_model.py
Mr-Medina Dec 30, 2023
a18cd6a
changed translation= to default False, Euler angle function is redund…
Mr-Medina Jan 2, 2024
195c28e
model "v3" works with constant angular velocity, breaks after certain…
Mr-Medina Jan 2, 2024
967b177
set_attitude_model: added correct arguments
Mr-Medina Jan 2, 2024
376a565
own test file
Mr-Medina Jan 2, 2024
0c90588
Attitude model now correctly models attitude with constant angular ve…
Mr-Medina Jan 2, 2024
78594d0
Needs to be fixed: with z angular velocity, roll is introduced
Mr-Medina Jan 2, 2024
fc3a857
different transformation matrix (roll pitch yaw angles are not the sa…
Mr-Medina Jan 3, 2024
0a537a7
one rotation (depending on the transformation sequence in body_to_rpy…
Mr-Medina Jan 3, 2024
3d4b351
Model works with constant angular velocity input, outputs correct poi…
Mr-Medina Jan 3, 2024
7f6f144
minor adjustments normalizing input pointing vector, todo added
Mr-Medina Jan 3, 2024
6f7c781
minor adjustments normalizing input pointing vector, sign fixed
Mr-Medina Jan 3, 2024
816f155
use rodriguez rotations instead of reference frame rotations (this do…
Mr-Medina Jan 4, 2024
4b1e5d3
added rodriguez rotation function
Mr-Medina Jan 4, 2024
aba8df1
implemented rodriguez rotation for both rotations of the body frame
Mr-Medina Jan 4, 2024
0b444dd
body to rpy convention: yaw - pitch - roll. transformation functions …
Mr-Medina Jan 4, 2024
4a5ebee
added function to get rpy angles, todo: perform actual body rotations…
Mr-Medina Jan 5, 2024
270d859
Now model works with initial attitude specified, calculates attitude …
Mr-Medina Jan 8, 2024
67864ff
Clean up code + added acceleration calculations (deleted possibility …
Mr-Medina Jan 9, 2024
4a130b3
fixed problem where when pitch = 90 deg, it stays 90.
Mr-Medina Jan 9, 2024
d8b6abe
code cleanup, more comments, rodrigues instead of rodriguez, moved re…
Mr-Medina Jan 9, 2024
a68f04d
renamed play file to test attitude plotting
Mr-Medina Jan 9, 2024
9e4b78d
attitude model pull request
Mr-Medina Jan 10, 2024
724e9f5
Removed own test files for pr
Mr-Medina Jan 10, 2024
6ce55d7
Added plotting file back to branch for visually checking attitude model
Mr-Medina Jan 10, 2024
3633631
implemented some feedback
Mr-Medina Jan 11, 2024
5fe2dc3
Merge branch 'attitude-model' into Attitude_pointing
Moanalengkeek Jan 19, 2024
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Needs to be fixed: with z angular velocity, roll is introduced
Mr-Medina committed Jan 2, 2024
commit 78594d092718e0377e79db78dd28d3bb273afc5d
2 changes: 1 addition & 1 deletion paseos/attitude/attitude_model.py
Original file line number Diff line number Diff line change
@@ -250,7 +250,7 @@ def update_attitude(self, dt):
# set values close to zero equal to zero.
self._actor_pointing_vector_eci[np.isclose(self._actor_pointing_vector_eci, np.zeros(3))] = 0


# todo: fix: with only z rotaion, roll is introduced to pointing vector
# convert to list
self._actor_attitude_in_rad = np.ndarray.tolist(self._actor_attitude_in_rad)
"""