DSACSS Operational Code: DSACSSConfig.xml Source File

00001 <!-- 
00002 /************************************************************************************************/
00003  /*! \file DSACSSConfig.xml
00004  *  \brief This file is a sample DSACSS config xml file. The syntax is very sensitive!
00005  *  \author $Author: jayhawk_hokie $
00006  *  \version $Revision: 1.14 $
00007  *  \date    $Date: 2007/08/31 15:44:20 $
00008  ************************************************************************************************/
00009  /*!
00010  *
00011  ************************************************************************************************/
00012  -->
00013 <? xml version="1.0" standalone="no" ?>
00014 
00015 <!-- Numerical Simulation-------------------------------------------------------------------------->
00016 <SPACECRAFT_1>
00017         <TIME>
00018                 <START value = 0 />
00019                 <INTEGRATION_STEP_SIZE value = 0.01 /> <!-- (sec) -->
00020                 <NUMBER_OF_ORBITS value = 0.01 /> <!-- number of orbits before simulation ends -->
00021         </TIME>
00022         <PHYSICAL_PROPERTIES>
00023                 <MASS   value = 120.0 /> <!-- (kg) -->
00024                 <INERTIA        I11 = 40.0      I12 = 0.0       I13 = 0.0 
00025                                 I21 = 0.0       I22 = 40.0      I23 = 0.0
00026                                 I31 = 0.0       I32 = 0.0       I33 = 80.0 /> <!-- (kg-m^2) -->
00027         </PHYSICAL_PROPERTIES>
00028         <ORBIT_PROPERTIES>
00029                 <INITIAL_CONDITIONS>
00030                         <KEPLERIAN selection = ON>
00031                                 <VECTOR value = 8700.0 /><!-- semimajor axis [a] (km) -->
00032                                 <VECTOR value = 0.5 /><!-- eccentricity [e] (~) -->
00033                                 <VECTOR value = 30.0 /><!-- inclination [i] (deg) -->
00034                                 <VECTOR value = 80.0 /><!-- longitude of the ascending node [OMEGA] (deg) -->
00035                                 <VECTOR value = 3.0 /><!-- argument of perigee [omega] (deg) -->
00036                                 <VECTOR value = 0.0 /><!-- true anomaly [f] (km) -->
00037                         </KEPLERIAN>
00038                         <POSITION_VELOCITY selection = OFF>
00039                                 <VECTOR value = 0.0 /><!-- Position ECIx (km) -->
00040                                 <VECTOR value = 0.0 /><!-- Position ECIy (km) -->
00041                                 <VECTOR value = 0.0 /><!-- Position ECIz (km) -->
00042                                 <VECTOR value = 0.0 /><!-- Velocity ECIx (km/s) -->
00043                                 <VECTOR value = 0.0 /><!-- Velocity ECIy (km/s) -->
00044                                 <VECTOR value = 0.0 /><!-- Velocity ECIz (km/s) -->
00045                         </POSITION_VELOCITY>
00046                 </INITIAL_CONDITIONS>
00047         </ORBIT_PROPERTIES>
00048         <ATTITUDE_PROPERTIES>
00049                 <INITIAL_CONDITIONS>
00050                         <ANGULAR_RATE_BODY value = 0.1 /> <!-- angular rate for x (rad/s) -->
00051                         <ANGULAR_RATE_BODY value = 0.05 /> <!-- angular rate for y (rad/s) -->
00052                         <ANGULAR_RATE_BODY value = 0.1 /> <!-- angular rate for z (rad/s) -->
00053                         <QUATERNION value = 0 /> <!-- Quaternion (q1) -->
00054                         <QUATERNION value = 0 /> <!-- Quaternion (q2) -->
00055                         <QUATERNION value = 0 /> <!-- Quaternion (q3) -->
00056                         <QUATERNION value = 1 /> <!-- Quaternion (q4) (scalar) -->
00057                 </INITIAL_CONDITIONS>
00058         </ATTITUDE_PROPERTIES>
00059 </SPACECRAFT_1>
00060 
00061 <!-- WHORL-I -------------------------------------------------------------------------------------->
00062 <WHORL-I value = "192.168.0.10" > <!-- PC NAME: Molpe -->
00063         <DATA_LOGGING>
00064                 <MAIN_PATH value = '/group/code/USER/dsacss/work/DataFiles/' /> <!-- Absolute Path to Save Data, work/DataFiles -->
00065                 <TEST_ID value = 'WhorlI_Test1_082307_' /> <!-- Used to indicate Test run --> 
00066                 <FILE_EXTENSION value = '.dat' /> <!-- Extension for data files, .txt .dat .cvs etc -->
00067         </DATA_LOGGING>
00068         <PHYSICAL_PROPERTIES>
00069                 <MASS   value = 88.4576 /> <!-- (kg) -->
00070                 <CENTER_MASS>
00071                         <VECTOR value = 0 /><!-- x (m) -->
00072                         <VECTOR value = 0 /><!-- y (m) -->
00073                         <VECTOR value = 0 /><!-- z (m) -->
00074                 </CENTER_MASS>
00075                 <INERTIA        I11 = 8.8325    I12 = 0.6854    I13 = -0.1579 
00076                                 I21 = 0.6854    I22 = 7.6989    I23 = -0.1035
00077                                 I31 = -0.1579   I32 = -0.1035   I33 = 12.9964 /> <!-- (kg-m^2) -->
00078                <SENSOR_RADIUS> <!-- Radius from center of rotation to motion pak sensors -->
00079                         <VECTOR value = -0.121 /><!-- x (m) -->
00080                         <VECTOR value = -0.108 /><!-- y (m) -->
00081                         <VECTOR value = 0.057 /><!-- z (m) -->
00082                 </SENSOR_RADIUS>
00083         </PHYSICAL_PROPERTIES>
00084         <HARDWARE_PROPERTIES selection = 'ON' > <!-- Turn hardware ON or OFF -->
00085                <MAGNETOMETER>
00086                         <INERTIAL_VECTOR valueX = -1597 valueY = -1605 valueZ = -6488 /> <!-- In Body frame (Counts) -->
00087                         <SENSOR_2_BODY_VECTOR value1 = -90  value2 = -90  value3 = -90 /> <!-- In 321 Euler Angles (degrees) -->
00088                         <PORT value = '/dev/ttyS0' /> <!-- Serial Port -->
00089                         <SET>
00090                                 <OUTPUT_FORMAT str = 'Binary' /> <!-- output data type: Binary or ASCII -->
00091                                 <SAMPLE_RATE value = 100 /> <!-- set sample rate (internal rate) 10, 20, 30, 40, 50, 60, 100, 123, 154 -->
00092                         </SET>
00093                         <X_OFFSET value = 74.3178 /> <!-- Ellipse x-offset (counts) -->
00094                         <Y_OFFSET value = -81.6473 /> <!-- Ellipse y-offset (counts) -->
00095                         <MAJOR_AXIS value = 2342.9 /> <!-- Ellipse major axis (counts) -->
00096                         <MINOR_AXIS value = 2255.2 /> <!-- Ellipse minor axis (counts) -->
00097                         <PHI value = -1.3812 /> <!-- Angle between x-axis and major axis (rad) -->
00098                 </MAGNETOMETER>
00099                 <DMU_ACCELEROMETER>
00100                         <INERTIAL_VECTOR valueX = -.0153 valueY = -.1993 valueZ = -9.858 /> <!-- In Body frame (m/s^2) -->
00101                         <SENSOR_2_BODY_VECTOR value1 = 0  value2 = 0  value3 = 0 /> <!-- In 321 Euler Angles (degrees) -->
00102                         <ACC_X>
00103                                 <ChannelID value = 4 />
00104                                 <Mode value = 2 />
00105                                 <Offset value = 0.04454 />
00106                                 <ScaleFactor value = 1.1971 />
00107                         </ACC_X>
00108                         <ACC_Y>
00109                                 <ChannelID value = 5 />
00110                                 <Mode value = 2 />
00111                                 <Offset value = 0.02082 />
00112                                 <ScaleFactor value = 1.1907 />
00113                         </ACC_Y>
00114                         <ACC_Z>
00115                                 <ChannelID value = 6 />
00116                                 <Mode value = 2 />
00117                                 <Offset value = 0.02106 />
00118                                 <ScaleFactor value = 1.193 />
00119                         </ACC_Z>
00120                 </DMU_ACCELEROMETER>
00121                 <DMU_RATE_GYRO>
00122                         <RATE_GYRO_X>
00123                                 <ChannelID value = 1 />
00124                                 <Mode value = 2 />
00125                                 <Offset value = -0.02231  />
00126                                 <ScaleFactor value = 0.027 />
00127                                 <Tolerance value = 0.008 />
00128                         </RATE_GYRO_X>
00129                         <RATE_GYRO_Y>
00130                                 <ChannelID value = 2 />
00131                                 <Mode value = 2 />
00132                                 <Offset value = 0.03295  />
00133                                 <ScaleFactor value = 0.027 />
00134                                 <Tolerance value = 0.008 />
00135                         </RATE_GYRO_Y>
00136                         <RATE_GYRO_Z>
00137                                 <ChannelID value = 3 />
00138                                 <Mode value = 2 />
00139                                 <Offset value = 0.02626 />
00140                                 <ScaleFactor value = 0.027 />
00141                                 <Tolerance value = 0.008 />
00142                         </RATE_GYRO_Z>
00143                 </DMU_RATE_GYRO>
00144                 <WHEELS>
00145                         <REACTION_X selection = ON>
00146                                 <LOGGING value = ON /> <!-- ON / OFF for Data Logging -->
00147                                 <AXIS value = 1 /> <!--X-->
00148                                 <AXIS value = 0 /> <!--Y-->
00149                                 <AXIS value = 0 /> <!--Z-->
00150                                 <DAISY_CHAIN value =1 /> <!--Daisy Chain Number??-->
00151                                 <DCADDR value = 1 /> <!--Wheel address-->
00152                                 <LIMIT_LOW value = 0 /> <!--Wheel torque lower limit (not currently used)-->
00153                                 <LIMIT_HIGH value = 0 /> <!--Wheel torque upper limit (not currently used)-->
00154                                 <BIAS_SPEED value= 0 />
00155                                 <PORT value = '/dev/ttyUSB4' /> <!-- Serial Port -->
00156                                 <INERTIA value = 0.075 /> <!-- Spin-axis Inertia (kg-m^2)-->
00157                                 <!-- Command Wheel Speed Coefficients for -7.6 <= w_scale < -1.2 -->
00158                                 <COEFFICIENTS1 value = -0.0292 /> 
00159                                 <COEFFICIENTS1 value = 0.4310 /> 
00160                                 <COEFFICIENTS1 value = -108.4810 /> 
00161                                 <COEFFICIENTS1 value = -33.3625 /> 
00162                                 <!-- Command Wheel Speed Coefficients for -1.2 <= w_scale < 0 -->
00163                                 <COEFFICIENTS2 value = 25.1189 /> 
00164                                 <COEFFICIENTS2 value = -29.3981 /> 
00165                                 <COEFFICIENTS2 value = 25.4829 /> 
00166                                 <!-- Command Wheel Speed Coefficients for 0 <= w_scale <= 1.2 -->
00167                                 <COEFFICIENTS3 value = -24.8267 /> 
00168                                 <COEFFICIENTS3 value = -29.6665 /> 
00169                                 <COEFFICIENTS3 value = -25.5515 /> 
00170                                 <!-- Command Wheel Speed Coefficients for 1.2 < w_scale <= 7.6 -->
00171                                 <COEFFICIENTS4 value = 0.3702 /> 
00172                                 <COEFFICIENTS4 value = -5.0961 /> 
00173                                 <COEFFICIENTS4 value = -92.3245 /> 
00174                                 <COEFFICIENTS4 value = 18.2302 /> 
00175                         </REACTION_X>
00176                         <REACTION_Y selection = ON>
00177                                 <LOGGING value = ON /> <!-- ON / OFF for Data Logging -->
00178                                 <AXIS value = 0 /> <!--X-->
00179                                 <AXIS value = 1 /> <!--Y-->
00180                                 <AXIS value = 0 /> <!--Z-->
00181                                 <DAISY_CHAIN value =1 /> <!--Daisy Chain Number??-->
00182                                 <DCADDR value = 1 /> <!--Wheel address-->
00183                                 <LIMIT_LOW value = 0 /> <!--Wheel torque lower limit (not currently used)-->
00184                                 <LIMIT_HIGH value = 0 /> <!--Wheel torque upper limit (not currently used)-->
00185                                 <BIAS_SPEED value= 0 />
00186                                 <PORT value = '/dev/ttyUSB5' /> <!-- Serial Port -->
00187                                 <INERTIA value = 0.075 /> <!-- Spin-axis Inertia (kg-m^2)-->
00188                                 <!-- Command Wheel Speed Coefficients for -7.6 <= w_scale < -1.2 -->
00189                                 <COEFFICIENTS1 value = -0.1300 /> 
00190                                 <COEFFICIENTS1 value = -0.3346 /> 
00191                                 <COEFFICIENTS1 value = -110.1343 /> 
00192                                 <COEFFICIENTS1 value = -31.3389 /> 
00193                                 <!-- Command Wheel Speed Coefficients for -1.2 <= w_scale < 0 -->
00194                                 <COEFFICIENTS2 value = 22.9303 /> 
00195                                 <COEFFICIENTS2 value = -33.1892 /> 
00196                                 <COEFFICIENTS2 value = 26.6547 /> 
00197                                 <!-- Command Wheel Speed Coefficients for 0 <= w_scale <= 1.2 -->
00198                                 <COEFFICIENTS3 value = -23.5571 /> 
00199                                 <COEFFICIENTS3 value = -33.2142 /> 
00200                                 <COEFFICIENTS3 value = -26.6669 /> 
00201                                 <!-- Command Wheel Speed Coefficients for 1.2 < w_scale <= 7.6 -->
00202                                 <COEFFICIENTS4 value = 0.0614 /> 
00203                                 <COEFFICIENTS4 value = -1.9880 /> 
00204                                 <COEFFICIENTS4 value = -101.6096 /> 
00205                                 <COEFFICIENTS4 value = 22.7110 /> 
00206                         </REACTION_Y>
00207                         <REACTION_Z selection = ON>
00208                                 <LOGGING value = ON /> <!-- ON / OFF for Data Logging -->
00209                                 <AXIS value = 0 /> <!--X-->
00210                                 <AXIS value = 0 /> <!--Y-->
00211                                 <AXIS value = 1 /> <!--Z-->
00212                                 <DAISY_CHAIN value =1 /> <!--Daisy Chain Number??-->
00213                                 <DCADDR value = 1 /> <!--Wheel address-->
00214                                 <LIMIT_LOW value = 0 /> <!--Wheel torque lower limit (not currently used)-->
00215                                 <LIMIT_HIGH value = 0 /> <!--Wheel torque upper limit (not currently used)-->
00216                                 <BIAS_SPEED value= -50 />
00217                                 <PORT value = '/dev/ttyUSB6' /> <!-- Serial Port -->
00218                                 <INERTIA value = 0.075 /> <!-- Spin-axis Inertia (kg-m^2)-->
00219                                 <!-- Command Wheel Speed Coefficients for -7.6 <= w_scale < -1.2 -->
00220                                 <COEFFICIENTS1 value = 0.3085 /> 
00221                                 <COEFFICIENTS1 value = 4.3691 /> 
00222                                 <COEFFICIENTS1 value = -94.8364 /> 
00223                                 <COEFFICIENTS1 value = -15.6830 /> 
00224                                 <!-- Command Wheel Speed Coefficients for -1.2 <= w_scale < 0 -->
00225                                 <COEFFICIENTS2 value = 25.9997 /> 
00226                                 <COEFFICIENTS2 value = -31.1477 /> 
00227                                 <COEFFICIENTS2 value = 25.9680 /> 
00228                                 <!-- Command Wheel Speed Coefficients for 0 <= w_scale <= 1.2 -->
00229                                 <COEFFICIENTS3 value = -26.1740 /> 
00230                                 <COEFFICIENTS3 value = -31.1465 /> 
00231                                 <COEFFICIENTS3 value = -25.9364 /> 
00232                                 <!-- Command Wheel Speed Coefficients for 1.2 < w_scale <= 7.6 -->
00233                                 <COEFFICIENTS4 value = 0.1015 /> 
00234                                 <COEFFICIENTS4 value = -1.9227 /> 
00235                                 <COEFFICIENTS4 value = -103.3392 /> 
00236                                 <COEFFICIENTS4 value = 24.3888 /> 
00237                         </REACTION_Z>
00238                         <CMG_WHEEL>
00239                                 <PORT value = '/dev/ttyUSB7' /> <!-- Serial Port -->
00240                         </CMG_WHEEL>
00241                 </WHEELS>
00242         </HARDWARE_PROPERTIES>
00243         <OBSERVER value = 'OFF' />
00244                 <!-- List of available observers
00245                   1) OFF
00246                   2) atterrbiasObserver
00247                   3) AttitudeObserver
00248                   4) DefaultObserver
00249                   5) triadObserver
00250                   6) QuaternionEKFObserver -->
00251         <CONTROLLER value = 'OFF' />
00252                 <!-- List of available controllers
00253                   1) OFF
00254                   2) DefaultController          
00255                   3) MWCMGController
00256                   4) OpenLoopMWController 
00257                   5) MRPTracking 
00258                   6) slidingModeControlMRPMW 
00259                   7) AngularRateController -->            
00260         <ORBIT_OBSERVER value = 'OFF' />
00261                 <!-- List of available observers
00262                   1) OFF 
00263                   2) GPSObserver
00264                   3) OrbitPropObserver -->
00265         <ORBIT_CONTROLLER value = 'OFF' />
00266                 <!-- List of available controllers
00267                   1) OFF 
00268                   2) COENaaszController -->
00269                 
00270 </WHORL-I>
00271 
00272 <!-- WHORL-II -------------------------------------------------------------------------------------->
00273 <WHORL-II value = "192.168.0.11" > <!-- PC NAME: Hierax -->
00274         <DATA_LOGGING>
00275                 <MAIN_PATH value = '/group/code/USER/dsacss/work/DataFiles/' /> <!-- Absolute Path to Save Data, work/DataFiles -->
00276                 <TEST_ID value = 'WhorlII_Test1_082307_' /> <!-- Used to indicate Test run --> 
00277                 <FILE_EXTENSION value = '.dat' /> <!-- Extension for data files, .txt .dat .cvs etc -->
00278         </DATA_LOGGING>
00279         <PHYSICAL_PROPERTIES>
00280                 <MASS   value = 113.236 /> <!-- (kg) -->
00281                 <CENTER_MASS>
00282                         <VECTOR value = 0 /><!-- x (m) -->
00283                         <VECTOR value = 0 /><!-- y (m) -->
00284                         <VECTOR value = 0 /><!-- z (m) -->
00285                 </CENTER_MASS>
00286                 <INERTIA        I11 = 3.7642    I12 = 1.3876    I13 = -1.2111 
00287                                 I21 = 1.3876    I22 = 26.0535   I23 = 0.2177
00288                                 I31 = -1.2111   I32 = 0.2177    I33 = 26.0567 /> <!-- (kg-m^2) -->
00289                <SENSOR_RADIUS> <!-- Radius from center of rotation to motion pak sensors -->
00290                         <VECTOR value = 0.35 /><!-- x (m) -->
00291                         <VECTOR value = 0.0 /><!-- y (m) -->
00292                         <VECTOR value = 0.12 /><!-- z (m) -->
00293                 </SENSOR_RADIUS>
00294         </PHYSICAL_PROPERTIES>
00295         <HARDWARE_PROPERTIES selection = 'ON' > <!-- Turn hardware ON or OFF -->
00296                <MAGNETOMETER>
00297                         <INERTIAL_VECTOR valueX = -1479 valueY = -1216 valueZ = -4869 /> <!-- In Body frame (Counts) -->
00298                         <SENSOR_2_BODY_VECTOR value1 = 0  value2 = 0  value3 = 0 /> <!-- In 321 Euler Angles (degrees) -->
00299                         <PORT value = '/dev/ttyS0' /> <!-- Serial Port -->
00300                         <SET>
00301                                 <OUTPUT_FORMAT str = 'Binary' /> <!-- output data type: Binary or ASCII -->
00302                                 <SAMPLE_RATE value = 100 /> <!-- set sample rate (internal rate) 10, 20, 30, 40, 50, 60, 100, 123, 154 -->
00303                         </SET>
00304                         <X_OFFSET value = -416.6979 /> <!-- Ellipse x-offset (counts) -->
00305                         <Y_OFFSET value = -247.3065 /> <!-- Ellipse y-offset (counts) -->
00306                         <MAJOR_AXIS value = 2110.8 /> <!-- Ellipse major axis (counts) -->
00307                         <MINOR_AXIS value = 1818.2 /> <!-- Ellipse minor axis (counts) -->
00308                         <PHI value = -0.61 /> <!-- Angle between x-axis and major axis (rad) -->
00309                 </MAGNETOMETER>
00310                 <DMU_ACCELEROMETER>
00311                         <INERTIAL_VECTOR valueX = -.0153 valueY = -.1993 valueZ = -9.858 /> <!-- In Body frame (m/s^2) -->
00312                         <SENSOR_2_BODY_VECTOR value1 = 0  value2 = 0  value3 = 0 /> <!-- In 321 Euler Angles (degrees) -->
00313                         <ACC_X>
00314                                 <ChannelID value = 4 />
00315                                 <Mode value = 2 />
00316                                 <Offset value = -0.023302 />
00317                                 <ScaleFactor value = 1.19268 />
00318                         </ACC_X>
00319                         <ACC_Y>
00320                                 <ChannelID value = 5 />
00321                                 <Mode value = 2 />
00322                                 <Offset value = -0.0177811 />
00323                                 <ScaleFactor value = 1.19788 />
00324                         </ACC_Y>
00325                         <ACC_Z>
00326                                 <ChannelID value = 6 />
00327                                 <Mode value = 2 />
00328                                 <Offset value = 0.00802858 />
00329                                 <ScaleFactor value = 1.19623 />
00330                         </ACC_Z>
00331                 </DMU_ACCELEROMETER>
00332                 <DMU_RATE_GYRO>
00333                         <RATE_GYRO_X>
00334                                 <ChannelID value = 1 />
00335                                 <Mode value = 2 />
00336                                 <Offset value = -0.0105046  />
00337                                 <ScaleFactor value = 0.027 />
00338                         </RATE_GYRO_X>
00339                         <RATE_GYRO_Y>
00340                                 <ChannelID value = 2 />
00341                                 <Mode value = 2 />
00342                                 <Offset value = 0.0225856  />
00343                                 <ScaleFactor value = 0.027 />
00344                         </RATE_GYRO_Y>
00345                         <RATE_GYRO_Z>
00346                                 <ChannelID value = 3 />
00347                                 <Mode value = 2 />
00348                                 <Offset value = 0.041766 />
00349                                 <ScaleFactor value = 0.027 />
00350                         </RATE_GYRO_Z>
00351                 </DMU_RATE_GYRO>
00352                 <WHEELS>
00353                         <REACTION_X selection = ON>
00354                                 <LOGGING value = ON /> <!-- ON / OFF for Data Logging -->
00355                                 <AXIS value = -1 /> <!--X-->
00356                                 <AXIS value = 0 /> <!--Y-->
00357                                 <AXIS value = 0 /> <!--Z-->
00358                                 <DAISY_CHAIN value =1 /> <!--Daisy Chain Number??-->
00359                                 <DCADDR value = 1 /> <!--Wheel address-->
00360                                 <LIMIT_LOW value = 0 /> <!--Wheel torque lower limit (not currently used)-->
00361                                 <LIMIT_HIGH value = 0 /> <!--Wheel torque upper limit (not currently used)-->
00362                                 <BIAS_SPEED value= 10 />
00363                                 <PORT value = '/dev/ttyUSB4' /> <!-- Serial Port -->
00364                                 <INERTIA value = 0.075 /> <!-- Spin-axis Inertia (kg-m^2)-->
00365                                 <!-- Command Wheel Speed Coefficients for -7.6 <= w_scale < -1.2 -->
00366                                 <COEFFICIENTS1 value = 0.0073 /> 
00367                                 <COEFFICIENTS1 value = 0.9891 /> 
00368                                 <COEFFICIENTS1 value = -106.5212 /> 
00369                                 <COEFFICIENTS1 value = -25.6702 /> 
00370                                 <!-- Command Wheel Speed Coefficients for -1.2 <= w_scale < 0 -->
00371                                 <COEFFICIENTS2 value = 23.9013 /> 
00372                                 <COEFFICIENTS2 value = -34.0706 /> 
00373                                 <COEFFICIENTS2 value = 25.9916 /> 
00374                                 <!-- Command Wheel Speed Coefficients for 0 <= w_scale <= 1.2 -->
00375                                 <COEFFICIENTS3 value = -24.2972 /> 
00376                                 <COEFFICIENTS3 value = -33.4746 /> 
00377                                 <COEFFICIENTS3 value = -26.1383 /> 
00378                                 <!-- Command Wheel Speed Coefficients for 1.2 < w_scale <= 7.6 -->
00379                                 <COEFFICIENTS4 value = 0.1442 /> 
00380                                 <COEFFICIENTS4 value = -2.4665 /> 
00381                                 <COEFFICIENTS4 value = -102.3385 /> 
00382                                 <COEFFICIENTS4 value = 22.2794 /> 
00383                         </REACTION_X>
00384                         <REACTION_Y selection = ON>
00385                                 <LOGGING value = ON /> <!-- ON / OFF for Data Logging -->
00386                                 <AXIS value = 0 /> <!--X-->
00387                                 <AXIS value = -1 /> <!--Y-->
00388                                 <AXIS value = 0 /> <!--Z-->
00389                                 <DAISY_CHAIN value =1 /> <!--Daisy Chain Number??-->
00390                                 <DCADDR value = 1 /> <!--Wheel address-->
00391                                 <LIMIT_LOW value = 0 /> <!--Wheel torque lower limit (not currently used)-->
00392                                 <LIMIT_HIGH value = 0 /> <!--Wheel torque upper limit (not currently used)-->
00393                                 <BIAS_SPEED value= -10 />
00394                                 <PORT value = '/dev/ttyUSB5' /> <!-- Serial Port -->
00395                                 <INERTIA value = 0.075 /> <!-- Spin-axis Inertia (kg-m^2)-->
00396                                 <!-- Command Wheel Speed Coefficients for -7.6 <= w_scale < -1.2 -->
00397                                 <COEFFICIENTS1 value = 0.0937 /> 
00398                                 <COEFFICIENTS1 value = 2.0285 /> 
00399                                 <COEFFICIENTS1 value = -102.0626 /> 
00400                                 <COEFFICIENTS1 value = -27.1519 /> 
00401                                 <!-- Command Wheel Speed Coefficients for -1.2 <= w_scale < 0 -->
00402                                 <COEFFICIENTS2 value = 24.5453 /> 
00403                                 <COEFFICIENTS2 value = -29.2204 /> 
00404                                 <COEFFICIENTS2 value = 25.0705 /> 
00405                                 <!-- Command Wheel Speed Coefficients for 0 <= w_scale <= 1.2 -->
00406                                 <COEFFICIENTS3 value = -25.3531 /> 
00407                                 <COEFFICIENTS3 value = -28.4963 /> 
00408                                 <COEFFICIENTS3 value = -25.1400 /> 
00409                                 <!-- Command Wheel Speed Coefficients for 1.2 < w_scale <= 7.6 -->
00410                                 <COEFFICIENTS4 value = 0.1841 /> 
00411                                 <COEFFICIENTS4 value = -2.8970 /> 
00412                                 <COEFFICIENTS4 value = -99.9913 /> 
00413                                 <COEFFICIENTS4 value = 26.7459 /> 
00414                         </REACTION_Y>
00415                         <REACTION_Z selection = ON>
00416                                 <LOGGING value = ON /> <!-- ON / OFF for Data Logging -->
00417                                 <AXIS value = 0 /> <!--X-->
00418                                 <AXIS value = 0 /> <!--Y-->
00419                                 <AXIS value = 1 /> <!--Z-->
00420                                 <DAISY_CHAIN value =1 /> <!--Daisy Chain Number??-->
00421                                 <DCADDR value = 1 /> <!--Wheel address-->
00422                                 <LIMIT_LOW value = 0 /> <!--Wheel torque lower limit (not currently used)-->
00423                                 <LIMIT_HIGH value = 0 /> <!--Wheel torque upper limit (not currently used)-->
00424                                 <BIAS_SPEED value= 10 />
00425                                 <PORT value = '/dev/ttyUSB6' /> <!-- Serial Port -->
00426                                 <INERTIA value = 0.075 /> <!-- Spin-axis Inertia (kg-m^2)-->
00427                                 <!-- Command Wheel Speed Coefficients for -7.6 <= w_scale < -1.2 -->
00428                                 <COEFFICIENTS1 value = 0.3085 /> 
00429                                 <COEFFICIENTS1 value = 4.3691 /> 
00430                                 <COEFFICIENTS1 value = -94.8364 /> 
00431                                 <COEFFICIENTS1 value = -15.6830 /> 
00432                                 <!-- Command Wheel Speed Coefficients for -1.2 <= w_scale < 0 -->
00433                                 <COEFFICIENTS2 value = 25.9997 /> 
00434                                 <COEFFICIENTS2 value = -31.1477 /> 
00435                                 <COEFFICIENTS2 value = 25.9680 /> 
00436                                 <!-- Command Wheel Speed Coefficients for 0 <= w_scale <= 1.2 -->
00437                                 <COEFFICIENTS3 value = -26.1740 /> 
00438                                 <COEFFICIENTS3 value = -31.1465 /> 
00439                                 <COEFFICIENTS3 value = -25.9364 /> 
00440                                 <!-- Command Wheel Speed Coefficients for 1.2 < w_scale <= 7.6 -->
00441                                 <COEFFICIENTS4 value = 0.1015 /> 
00442                                 <COEFFICIENTS4 value = -1.9227 /> 
00443                                 <COEFFICIENTS4 value = -103.3392 /> 
00444                                 <COEFFICIENTS4 value = 24.3888 /> 
00445                         </REACTION_Z>
00446                 </WHEELS>
00447         </HARDWARE_PROPERTIES>
00448         <OBSERVER value = 'OFF' />
00449                 <!-- List of available observers
00450                   1) OFF
00451                   2) atterrbiasObserver
00452                   3) AttitudeObserver
00453                   4) DefaultObserver
00454                   5) triadObserver
00455                   6) QuaternionEKFObserver -->
00456         <CONTROLLER value = 'OFF' />
00457                 <!-- List of available controllers
00458                   1) OFF
00459                   2) DefaultController          
00460                   3) MWCMGController
00461                   4) OpenLoopMWController 
00462                   5) MRPTracking 
00463                   6) slidingModeControlMRPMW              
00464                   7) AngularRateController -->            
00465         <ORBIT_OBSERVER value = 'OFF' />
00466                 <!-- List of available observers
00467                   1) OFF 
00468                   2) GPSObserver
00469                   3) OrbitPropObserver -->
00470         <ORBIT_CONTROLLER value = 'OFF' />
00471                 <!-- List of available controllers
00472                   1) OFF 
00473                   2) COENaaszController -->
00474                 
00475 </WHORL-II>
00476 
00477 
00478 
00479 <!-- WHORL-III: Software Computer (i.e. NO HARDWARE )-------------------------------------------------------------->
00480 <WHORL-III value = "192.168.0.22" > <!-- Not real IP Address. PC NAME: Any -->
00481         <DATA_LOGGING>
00482                 <MAIN_PATH value = '/group/code/sako/dsacss/work/DataFiles/' /> <!-- Absolute Path to Save Data, work/DataFiles -->
00483                 <TEST_ID value = 'WhorlIII_Test1_072407_' /> <!-- Used to indicate Test run --> 
00484                 <FILE_EXTENSION value = '.dat' /> <!-- Extension for data files, .txt .dat .cvs etc -->
00485         </DATA_LOGGING>
00486         <PHYSICAL_PROPERTIES>
00487                 <MASS   value = 88.4576 /> <!-- (kg) -->
00488                 <CENTER_MASS>
00489                         <VECTOR value = 0 /><!-- x (m) -->
00490                         <VECTOR value = 0 /><!-- y (m) -->
00491                         <VECTOR value = 0 /><!-- z (m) -->
00492                 </CENTER_MASS>
00493                 <INERTIA        I11 = 8.8325    I12 = 0.6854    I13 = -0.1579 
00494                                 I21 = 0.6854    I22 = 7.6989    I23 = -0.1035
00495                                 I31 = -0.1579   I32 = -0.1035   I33 = 12.9964 /> <!-- (kg-m^2) -->
00496                <SENSOR_RADIUS> <!-- Radius from center of rotation to motion pak sensors -->
00497                         <VECTOR value = 0 /><!-- x (m) -->
00498                         <VECTOR value = 0 /><!-- y (m) -->
00499                         <VECTOR value = 0 /><!-- z (m) -->
00500                 </SENSOR_RADIUS>
00501         </PHYSICAL_PROPERTIES>
00502         <HARDWARE_PROPERTIES selection = 'OFF' > <!-- Turn hardware ON or OFF. SHOULD BE SET TO OFF FOR WHORL-III -->
00503         </HARDWARE_PROPERTIES>
00504         <ORBIT_OBSERVER value = 'OFF' />
00505                 <!-- List of available observers
00506                   1) OFF 
00507                   2) GPSObserver
00508                   3) OrbitPropObserver -->
00509         <ORBIT_CONTROLLER value = 'OFF' />
00510                 <!-- List of available controllers
00511                   1) OFF 
00512                   2) COENaaszController -->
00513                 
00514 </WHORL-III>
00515 
00516 <!-- STK Visualization -------------------------------------------------------------------------------------->
00517 <Visualization>
00518         <STATUS value = ON />
00519 </Visualization>
00520 
00521 
00522 <!-- 
00523 // Do not change the comments below - they will be added automatically by CVS
00524 /*****************************************************************************
00525 *       $Log: DSACSSConfig.xml,v $
00526 *       Revision 1.14  2007/08/31 15:44:20  jayhawk_hokie
00527 *       Added Orbit Control Configuration Parameters.
00528 *
00529 *       Revision 1.13  2007/07/24 10:04:44  jayhawk_hokie
00530 *       Updated Parameters.
00531 *
00532 *       Revision 1.12  2007/05/30 20:39:52  bwilliam
00533 *       Updated to include magnetometer calibration.
00534 *
00535 *       Revision 1.11  2007/05/21 17:52:55  jayhawk_hokie
00536 *       *** empty log message ***
00537 *
00538 *       Revision 1.10  2007/04/11 16:21:20  jayhawk_hokie
00539 *       *** empty log message ***
00540 *
00541 *       Revision 1.9  2007/04/11 15:43:20  jayhawk_hokie
00542 *       *** empty log message ***
00543 *
00544 *       Revision 1.8  2007/04/09 14:06:44  jayhawk_hokie
00545 *       Modified xml file for turning on and off devices.
00546 *
00547 *       Revision 1.7  2007/03/27 19:18:39  jayhawk_hokie
00548 *       Added on and off features.
00549 *
00550 *       Revision 1.6  2007/01/12 20:33:56  bwilliam
00551 *       Updated with latest configuration data.
00552 *
00553 *       Revision 1.5  2006/09/11 21:50:27  jayhawk_hokie
00554 *       *** empty log message ***
00555 *
00556 *       Revision 1.4  2006/08/11 19:51:46  jayhawk_hokie
00557 *       Added numerical simulation parameters. Modified inertial vectors for Whorl-I.
00558 *
00559 *       Revision 1.3  2006/08/08 19:19:22  jayhawk_hokie
00560 *       Add numerical simulation functionality.
00561 *
00562 *       Revision 1.2  2006/08/01 18:48:15  jayhawk_hokie
00563 *       Add more configuration parameters.
00564 *
00565 *       Revision 1.1  2006/07/25 20:26:54  jayhawk_hokie
00566 *       Initial submission.
00567 *
00568 *
00569 *
00570 *
00571 ******************************************************************************/
00572 -->
work/DSACSSConfig.xml
