Detumble -> develop

simulator/pom.xml

@@ -31,8 +31,6 @@
 			<groupId>net.spy</groupId>
 			<artifactId>spymemcached</artifactId>
 			<version>2.12.3</version>
-			<scope>system</scope>
-			<systemPath>${project.basedir}/src/main/resources/jar/spymemcached-2.12.3.jar</systemPath>
 		</dependency>
 	</dependencies>
 	<issueManagement>
@@ -56,4 +54,4 @@
 		</pluginManagement>
 	</build>
 	<groupId>msp.simulator</groupId>
-</project>
+</project>

simulator/src/main/java/msp/simulator/Main.java

@@ -40,13 +40,16 @@ public static void main(String[] args) {
 			Dashboard.setSimulationDuration(1000000);
 
 			Dashboard.setIntegrationTimeStep(0.1);
-			Dashboard.setEphemerisTimeStep(1.0);
-			Dashboard.setSatelliteInertiaMatrix(SatelliteBody.satInertiaMatrix);
+			Dashboard.setEphemerisTimeStep(0.1);
+			Dashboard.setStepDelay(0.1);		
 
 			Dashboard.setInitialAttitudeQuaternion(new Quaternion(1, 0, 0, 0));
-			Dashboard.setInitialSpin(new Vector3D(0.5, 0.5, 0.5));
+			Dashboard.setInitialSpin(new Vector3D(0.05, 0.05, 0.05));
 			Dashboard.setInitialRotAcceleration(new Vector3D(0,0,0));
-			Dashboard.setTorqueDisturbances(true);
+			Dashboard.setTorqueDisturbances(false);
+			//Dashboard.setSatelliteInertiaMatrix(SatelliteBody.satInertiaMatrix);
+			Dashboard.setSatelliteInertiaMatrix(SatelliteBody.ACRUX1InertiaMatrix);
+			//Dashboard.setSatelliteInertiaMatrix(SatelliteBody.simpleBalancedInertiaMatrix);
 
 			Dashboard.setCommandTorqueProvider(TorqueProviderEnum.MEMCACHED);
 			Dashboard.setMemCachedConnection(true, "127.0.0.1:11211");

simulator/src/main/java/msp/simulator/NumericalSimulator.java

@@ -49,6 +49,9 @@ public class NumericalSimulator {
 	 * Default value is Long.MAX_VALUE. */
 	public static long simulationDuration = Long.MAX_VALUE;
 
+  /** Wall clock time between computing steps of the simulation. */
+  public static double stepDelay = 0.1;
+
 	/** Real-time processing flag. */
 	public static boolean realTimeUserFlag = false;
 
@@ -215,8 +218,7 @@ public void process() {
 					scheduler.scheduleAtFixedRate(
 							mainSimulationTask, 
 							0, 
-							(long) (this.dynamic.getPropagation().getIntegrationManager()
-									.getStepSize() * 1000), 
+							(long) (stepDelay * 1000), 
 							TimeUnit.MILLISECONDS);
 
 

simulator/src/main/java/msp/simulator/dynamic/propagation/integration/RotAccProvider.java

@@ -138,8 +138,8 @@ public static double[] computeEulerEquations(
 		 * the Euler Equations of motion for a rotating rigid body. 
 		 */
 		rotAcc[0] = (M1 - (I3 - I2) * W2 * W3) / I1 ;
-		rotAcc[1] = (M2 - (I1 - I3) * W3 * W1) / I1 ; 
-		rotAcc[2] = (M3 - (I2 - I1) * W1 * W2) / I1 ;
+		rotAcc[1] = (M2 - (I1 - I3) * W3 * W1) / I2 ; 
+		rotAcc[2] = (M3 - (I2 - I1) * W1 * W2) / I3 ;
 
 		return rotAcc;
 	}

simulator/src/main/java/msp/simulator/dynamic/torques/MemCachedTorqueProvider.java

@@ -170,7 +170,7 @@ public Vector3D getTorque(AbsoluteDate date) {
 			}
 
 			/* Debug Information */
-			logger.debug("Torque Provider (Acquisition): " + date.toString() +" - " +
+			logger.info("Torque Provider (Acquisition): " + date.toString() +" - " +
 					this.stepTorque.toString());
 
 		} else {

simulator/src/main/java/msp/simulator/groundStation/GroundStation.java

@@ -158,7 +158,7 @@ public void executeMission(AbsoluteDate date) {
 					byte[] raan = MemcachedRawTranscoder.toRawByteArray(
 							Double.valueOf(tle.getLine2().substring(17, 25)));
 
-					byte[] eccentricity = MemcachedRawTranscoder.toRawByteArray(
+					byte[] eccentricity1e7 = MemcachedRawTranscoder.toRawByteArray(
 							Double.valueOf(tle.getLine2().substring(26, 33)));
 
 					byte[] argPerigee = MemcachedRawTranscoder.toRawByteArray(
@@ -175,7 +175,7 @@ public void executeMission(AbsoluteDate date) {
 					memcached.set("Simulation_TLE_Mean_Motion_First_Deriv"	, 0, meanMotionFirstDerivative);
 					memcached.set("Simulation_TLE_Mean_Motion"				, 0, meanMotion);
 					memcached.set("Simulation_TLE_Argument_Perigee"		, 0, argPerigee);
-					memcached.set("Simulation_TLE_Eccentricity"			, 0, eccentricity);
+					memcached.set("Simulation_TLE_Eccentricity_1e7"		, 0, eccentricity1e7);
 					memcached.set("Simulation_TLE_Mean_Anomaly"			, 0, meanAnomaly);
 					memcached.set("Simulation_TLE_Inclination"			, 0, inclination);
 					memcached.set("Simulation_TLE_Bstar"		, 0, bStar);
@@ -213,15 +213,15 @@ public void executeMission(AbsoluteDate date) {
 									+ "TLE_Epoch: " + 
 									+ ByteBuffer.wrap(epoch).getDouble()
 									+ "\n"
-									+ "TLE_Eccentricity: " + 
-									+ ByteBuffer.wrap(eccentricity).getDouble()
+									+ "TLE_Eccentricity_1e7: " + 
+									+ ByteBuffer.wrap(eccentricity1e7).getDouble()
 									+ "\n"
 									+ "TLE_Argument_Perigee: " + 
 									+ ByteBuffer.wrap(argPerigee).getDouble()
 									+ "\n"
-									+ "Raw : " + tle.getLine1() 
+									+ "Raw: " + tle.getLine1() 
 									+ "\n"
-									+ "Raw : " + tle.getLine2()
+									+ "Raw: " + tle.getLine2()
 									;
 
 					logger.info(tleUpdate);

simulator/src/main/java/msp/simulator/satellite/Satellite.java

@@ -75,7 +75,7 @@ public Satellite(Environment environment) {
 	 */
 	public void executeStepMission() {
 		AbsoluteDate date = this.getStates().getCurrentState().getDate();
-
+		
 		/* Export Sensor Measurements */
 		if (this.io.isConnectedToMemCached()) {
 
@@ -105,7 +105,7 @@ public void executeStepMission() {
 					);		
 
 			/* Gyrometer Sensor Measurement */
-			Vector3D gyroMeasure = this.getSensors().getGyrometer().getData_rotAcc();
+			Vector3D gyroMeasure = this.getSensors().getGyrometer().getData_angularVelocity();
 			byte[] rawGyro_x = MemcachedRawTranscoder.toRawByteArray(gyroMeasure.getX());
 			byte[] rawGyro_y = MemcachedRawTranscoder.toRawByteArray(gyroMeasure.getY());
 			byte[] rawGyro_z = MemcachedRawTranscoder.toRawByteArray(gyroMeasure.getZ());

simulator/src/main/java/msp/simulator/satellite/assembly/Assembly.java

@@ -37,7 +37,7 @@ public class Assembly {
 
 	/** Logger of the class */
 	private static final Logger logger = LoggerFactory.getLogger(Assembly.class);
-	
+
 	/** Earth instance of the simulation. */
 	private Earth earth;
 
@@ -46,9 +46,6 @@ public class Assembly {
 
 	/** Instance of the satellite initial state in space. */
 	private SatelliteStates satelliteStates;
-
-	/** Satellite frame. */
-	private Frame satelliteFrame;
 
 	/**
 	 * Build the satellite as a body and a state vector.
@@ -62,11 +59,6 @@ public Assembly(Environment environment) {
 
 		this.satelliteBody = new SatelliteBody(environment);
 		this.satelliteStates = new SatelliteStates(environment, satelliteBody);
-		this.satelliteFrame = new Frame (
-				FramesFactory.getEME2000(),
-				this.getStates().getCurrentState().toTransform(),
-				"SatelliteFrame"
-				);
 		this.earth = environment.getSolarSystem().getEarth();
 	}
 
@@ -95,7 +87,11 @@ public SatelliteStates getStates() {
 	 * frame fixed with the axis body.
 	 */
 	public Frame getSatelliteFrame() {
-		return this.satelliteFrame;
+		return new Frame (
+				FramesFactory.getEME2000(),
+				this.getStates().getCurrentState().toTransform(),
+				"SatelliteFrame"
+				);
 	}
 
 	/**
@@ -105,7 +101,7 @@ public Frame getSatelliteFrame() {
 	public Vector3D getAngularMomentum() {
 		Vector3D rotationRate = this.satelliteStates
 				.getCurrentState().getAttitude().getSpin();
-		
+
 		double[][] inertiaMatrix = this.satelliteBody.getInertiaMatrix();
 
 		Vector3D row0 = new Vector3D(inertiaMatrix[0]);
@@ -130,13 +126,13 @@ public Transform getItrf2body(AbsoluteDate date) {
 		Transform itrf2body = null;
 		try {
 			itrf2body = this.earth.getRotatingFrame().getTransformTo(
-					this.satelliteFrame, 
+					this.getSatelliteFrame(), 
 					date
 					);
 		} catch (OrekitException e) {
 			e.printStackTrace();
 		}
-		
+
 		return itrf2body;
 	}
 

simulator/src/main/java/msp/simulator/satellite/assembly/SatelliteBody.java

@@ -33,26 +33,33 @@ public class SatelliteBody extends BoxAndSolarArraySpacecraft {
 	/* ******* Public Static Attributes ******* */
 
 	/** Size of the satellite box in meters - (x, y, z) */
-	public static double[] satBoxSizeWithNoSolarPanel = new double[] {0.01, 0.01, 0.01} ;
+	public static final double[] satBoxSizeWithNoSolarPanel = new double[] {0.01, 0.01, 0.01} ;
 
 	/* Note that the size of the solar panels is set to zero in the class constructor.*/
 
 	/** Mass of the satellite in kilogram. */
-	public static double satelliteMass = 1.04;
+	public static final double satelliteMass = 1.04;
 
-	/* TODO(rskew) update inertia matrix. */
-	/** Inertia matrix of the satellite. */
+	/** Default inertia matrix, set by the Dashboard. */
 	public static double[][] satInertiaMatrix =  /* kg.m^2 */ {
 			{1191.648 * 1.3e-6,           0       ,           0        },
 			{         0       ,  1169.506 * 1.3e-6,           0        },
 			{         0       ,           0       ,  1203.969 * 1.3e-6 },
 	};
 
+  /* TODO(rskew) update inertia matrix. */
+  /** Inertia matrix of ACRUX1. */
+  public static final double[][] ACRUX1InertiaMatrix =  /* kg.m^2 */ {
+      {1191.648 * 1.3e-6,           0       ,           0        },
+      {         0       ,  1169.506 * 1.3e-6,           0        },
+      {         0       ,           0       ,  1203.969 * 1.3e-6 },
+  };
+
 	/** Simple balance inertia matrix (Unit matrix). */
 	public static final double[][] simpleBalancedInertiaMatrix = {
-			{ 1,   0,   0 },
-			{ 0,   1,   0 },
-			{ 0,   0,   1 }
+			{ 1e-3,   0   ,   0 },
+			{ 0   ,   1e-3,   0 },
+			{ 0   ,   0   ,   1e-3 }
 	};
 
 	/* **************************************** */
@@ -102,6 +109,7 @@ public SatelliteBody(Environment environment) {
 		this.satBoxSize = SatelliteBody.satBoxSizeWithNoSolarPanel;
 		this.satMass = SatelliteBody.satelliteMass;
 		this.inertiaMatrix = SatelliteBody.satInertiaMatrix;
+		//this.inertiaMatrix = SatelliteBody.simpleBalancedInertiaMatrix;
 
 		SatelliteBody.logger.info(CustomLoggingTools.indentMsg(SatelliteBody.logger, 
 				" -> Building the CubeSat body: Success."));

simulator/src/main/java/msp/simulator/satellite/sensors/Gyrometer.java

@@ -34,7 +34,8 @@ public class Gyrometer {
 	/** This intensity is used to generate a random number to be
 	 * added to each components of the sensor data.
 	 */
-	public static double defaultGyroNoiseIntensity = 1e-3;
+	//public static double defaultGyroNoiseIntensity = 1e-3;
+  public static double defaultGyroNoiseIntensity = 0;
 
 	/* **************************************** */
 
@@ -65,13 +66,13 @@ public Gyrometer(Environment environment, Assembly assembly) {
 	 * Retrieve the data from the sensor.
 	 * @return Rotational Acceleration
 	 */
-	public Vector3D getData_rotAcc() {
-		/* Get the acceleration from the satellite state. */
+	public Vector3D getData_angularVelocity() {
+		/* Get the angular velocity from the satellite state. */
 		/* Note that these data are already in the satellite
 		 * body frame!
 		 */
 		Vector3D data = this.assembly.getStates()
-				.getCurrentState().getAttitude().getRotationAcceleration();
+				.getCurrentState().getAttitude().getSpin();
 
 		/* Add the noise contribution. */
 		Vector3D noise = new Vector3D(

simulator/src/main/java/msp/simulator/satellite/sensors/Magnetometer.java

@@ -146,24 +146,32 @@ public GeoMagneticElements retrievePerfectField() {
 		 * the altitude of the satellite is slightly shifted from the true 
 		 * one.
 		 */
+//		GeoMagneticElements trueField_itrf = this.geomagField.getField().calculateField(
+//				FastMath.toDegrees(geodeticPosition.getLatitude()),	/* decimal deg */
+//				FastMath.toDegrees(geodeticPosition.getLongitude()),	/* decimal deg */
+//				(satState.getA() - this.earth.getRadius()) / 1e3		/* km */
+//				);
+
 		GeoMagneticElements trueField_itrf = this.geomagField.getField().calculateField(
-				FastMath.toDegrees(geodeticPosition.getLatitude()),	/* decimal deg */
-				FastMath.toDegrees(geodeticPosition.getLongitude()),	/* decimal deg */
-				(satState.getA() - this.earth.getRadius()) / 1e3		/* km */
+				0.007707323868690944,	/* decimal deg */
+				-156.00687854677085,	/* decimal deg */
+				574.9999944513394/* km */
 				);
 
 		logger.debug("Magnetometer Measurement: \n" +
 				"Latitude: " + FastMath.toDegrees(geodeticPosition.getLatitude()) + " °\n" +
 				"Longitud: " + FastMath.toDegrees(geodeticPosition.getLongitude()) + " °\n" +
 				"Altitude: " + (satState.getA() - this.earth.getRadius()) / 1e3 + " km\n" +
-				"True Geo ITRF" + trueField_itrf.toString()
+				"(ITRF): " + trueField_itrf.toString()
 				);
 
 		/* Rotate the magnetic field reading into the body frame */
 		Vector3D trueField_body = this.assembly.getItrf2body(satState.getDate())
 				.transformVector(trueField_itrf.getFieldVector());
 
-		return new GeoMagneticElements(trueField_body);
+		GeoMagneticElements trueGeoMag_body = new GeoMagneticElements(trueField_body);
+
+		return trueGeoMag_body;
 	}
 
 	/**

simulator/src/main/java/msp/simulator/user/Dashboard.java

@@ -119,9 +119,9 @@ public static void setDefaultConfiguration() {
 		Dashboard.setTorqueDisturbances(true);
 
 		/* **** Structure Settings **** */
-		Dashboard.setSatBoxSizeWithNoSolarPanel(new double[]{0.01, 0.01, 0.01});
-		Dashboard.setSatelliteMass(1.0);
-		Dashboard.setSatelliteInertiaMatrix(SatelliteBody.simpleBalancedInertiaMatrix);
+		//Dashboard.setSatBoxSizeWithNoSolarPanel(new double[]{0.01, 0.01, 0.01});
+		//Dashboard.setSatelliteMass(1.0);
+		//Dashboard.setSatelliteInertiaMatrix(SatelliteBody.simpleBalancedInertiaMatrix);
 
 		/* **** Structure Settings **** */
 		Dashboard.setMagnetometerNoiseIntensity(1e2);
@@ -232,6 +232,14 @@ public static void setSimulationDuration(long duration) {
 		NumericalSimulator.simulationDuration = duration ; /* s. */
 	}
 
+  /**
+   * Set the wall clock time daley between comuting steps
+   * @param stepDelay in seconds
+   */
+  public static void setStepDelay(double stepDelay) {
+    NumericalSimulator.stepDelay = stepDelay;
+  }
+
 	/**
 	 * Set the period of work of the ground station, i.e. the time without
 	 * any update.
@@ -256,9 +264,9 @@ public static void setOrbitalParameters(OrbitalParameters param) {
 	 * Set the size of the satellite box without solar panel.
 	 * @param xyzSize a three-dimension array (x, y, z) in meter.
 	 */
-	public static void setSatBoxSizeWithNoSolarPanel(double[] xyzSize) {
-		SatelliteBody.satBoxSizeWithNoSolarPanel = xyzSize;
-	}
+	//public static void setSatBoxSizeWithNoSolarPanel(double[] xyzSize) {
+	//	SatelliteBody.satBoxSizeWithNoSolarPanel = xyzSize;
+	//}
 
 	/**
 	 * Set the initial attitude quaternion. (Representing the rotation
@@ -298,9 +306,9 @@ public static void setTorqueDisturbances(boolean flag) {
 	 * Set the user-defined satellite mass.
 	 * @param mass in kilogram
 	 */
-	public static void setSatelliteMass(double mass) {
-		SatelliteBody.satelliteMass = mass;
-	}
+	//public static void setSatelliteMass(double mass) {
+	//	SatelliteBody.satelliteMass = mass;
+	//}
 
 	/**
 	 * Set the user-specified inertia matrix of the satellite.

simulator/src/main/java/msp/simulator/utils/logs/ephemeris/EphemerisGenerator.java

@@ -254,14 +254,16 @@ public void writeStep(Satellite satellite) {
 							"Attitude: [{}, {}, {}, {}] \n" +
 							"Spin    : {} \n" +
 							"RotAcc  : {}\n" +
-							"Momentum: {}",
+							"Momentum: {}\n" +
+              "Momentum Norm: {}",
 							newState.getAttitude().getRotation().getQ0(),
 							newState.getAttitude().getRotation().getQ1(),
 							newState.getAttitude().getRotation().getQ2(),
 							newState.getAttitude().getRotation().getQ3(),
 							newState.getAttitude().getSpin().toString(),
 							newState.getAttitude().getRotationAcceleration().toString(),
-							satellite.getAssembly().getAngularMomentum()
+              satellite.getAssembly().getAngularMomentum(),
+              satellite.getAssembly().getAngularMomentum().getNorm()
 					);
 
 		} catch (OrekitException | IOException e) {