Added reset of SOLS for the test scenario (12e8b941) · Commits · Alessandro Frigeri / MaMISSspice

Original line number	Original line	Diff line number	Diff line
	@@ -172,10 +172,10 @@ RM NAIF ID Codes -- Summary Section
	RM_ALD_CSTM -174051		RM_ALD_CSTM -174051
	RM_ALD_PSDDS -174053		RM_ALD_PSDDS -174053
	RM_ALD_PSHS -174055		RM_ALD_PSHS -174055
	RM_SA+Y_PRI -174061		RM_SA+Y_PRI -174062
	RM_SA+Y_SEC -174062		RM_SA+Y_SEC -174063
	RM_SA-Y_PRI -174064		RM_SA-Y_PRI -174065
	RM_SA-Y_SEC -174065		RM_SA-Y_SEC -174066

	RM_CALTAR_FIDM1		RM_CALTAR_FIDM1
	RM_CALTAR_FIDM2		RM_CALTAR_FIDM2
	@@ -188,8 +188,6 @@ RM NAIF ID Codes -- Summary Section
	RM_INSPECTION_MIRROR		RM_INSPECTION_MIRROR
	( ... )		( ... )



	PanCam names/IDs:		PanCam names/IDs:

	RM_PANCAM -174100		RM_PANCAM -174100
	@@ -268,8 +266,12 @@ RM Frames
	RM_ALD_PSDDS_MOV RM_ALD_PSDDS_FIX FIXED -174053		RM_ALD_PSDDS_MOV RM_ALD_PSDDS_FIX FIXED -174053
	RM_ALD_PSHS_FIX RM_ROVER FIXED -174054		RM_ALD_PSHS_FIX RM_ROVER FIXED -174054
	RM_ALD_PSHS_MOV RM_ALD_PSHS_FIX CK -174055		RM_ALD_PSHS_MOV RM_ALD_PSHS_FIX CK -174055
	RM_SA+Y_ZERO RM_ROVER FIXED -174001		RM_SA+Y_ZERO RM_ROVER FIXED -174061
	RM_SA+Y_PRI RM_SA+Y_ZERO CK -174002		RM_SA+Y_PRI RM_SA+Y_ZERO CK -174062
			RM_SA+Y_SEC RM_SA+Y_PRI CK -174063
			RM_SA+Y_ZERO RM_ROVER FIXED -174064
			RM_SA+Y_PRI RM_SA+Y_ZERO CK -174065
			RM_SA+Y_SEC RM_SA+Y_PRI CK -174066

	RM_CALIBR_TARGET RM_ROVER FIXED		RM_CALIBR_TARGET RM_ROVER FIXED
	RM_MIRROR_ RM_ROVER FIXED		RM_MIRROR_ RM_ROVER FIXED
	@@ -1689,36 +1691,74 @@ ALD PSDDS and PSHS Frames
	Solar Arrays Frames		Solar Arrays Frames
	----------------------------------------------------------------------------		----------------------------------------------------------------------------

			This section contains the definitions of the Solar Arrays (SA) frames
			as specified in [7].

	Zero angle when the primary panels are in the nominal fully deployed position with normal to the PVA face parallel to +ZRB.		The RM has two groups of SA panels, the Right SA and the Left SA. Each
	Positive rotations deploy the primary panels from their stowed positions: right side hinges rotate clockwise about +XRB and left side hinges rotate anticlockwise about +XRB using right-hand grip rule.		group consists of two panels (in addition to the panels present on top
	Secondary Hinge deployment axis rotation convention is:		of the RM body): the primary and the secondary panel -- RM_SA+Y_PRI,
	Zero angle when the secondary panels are in the nominal fully-deployed position with normal to the PVA face parallel to +ZRB.		RM_SA+Y_SEC and RM_SA-Y_PRI RM_SA-Y_SEC --, these two panels are
	Positive rotations deploy the secondary panels from their stowed positions below the primary panels: when the primary panels are deployed to -90deg the right side secondary hinges rotate anticlockwise about +ZRB and left side secondary hinges rotate clockwise about +ZRB using right-hand grip rule.		connected by hinges that allow them ro rotate (and thus be deployed).
			For each panel, the conventions for the hinge depoyment axis are the
			following:

	The Drill is in charge of extracting the samples from the Mars subsurface		The Primary Hinge deployment axis rotation convention is:
	and delivering them to the Core Sample Transport Mechanism (CSTM), such
	that they are transported inside the Analytical Laboratory Drawer (ALD),
	where they are processed and analysed by the scientific instruments.
	The drill implements a multi-rod concept to allow drilling and sample
	collection down to 2 meter depth.

	The drill string is composed, at its maximum length, of a drill tool		- Zero angle when the primary panels are in the nominal fully
	(with sample collection capability) and three extension rods. Three		deployed position with normal to the PVA face parallel to +ZRB.
	``main'' active joints are needed to accomplish the Drill operations:

	- Positioner Translation Joint, which allows all the translational		- Positive rotations deploy the primary panels from their stowed
	movements of the Drill box.		positions: right side hinges rotate clockwise about +XRB and
			left side hinges rotate anticlockwise about +XRB using
			right-hand grip rule.

	- Positioner Rotational Joint, which allows all the rotational		The Secondary Hinge deployment axis rotation convention is:
	movements of the Drill box.

	- Drilling Joint, which groups several mechanisms devoted to the drill		- Zero angle when the secondary panels are in the nominal
	rod insertion in the terrain (drilling/coring).		fully-deployed position with normal to the PVA face parallel
			to +ZRB.

			- Positive rotations deploy the secondary panels from their stowed
			positions below the primary panels: when the primary panels are
			deployed to -90deg the right side secondary hinges rotate
			anticlockwise about +ZRB and left side secondary hinges rotate
			clockwise about +ZRB using right-hand grip rule.

			The following frames implement the definitions provided below.

			The SA Fixed frame -- RM_ALD_PSHS_FXD -- is attached to the Powder
			Sample Handiling System and is invariant to the PSHS mechanism position.
			It is defined as follows:

			- +X axis is nominally co-aligned with the RM_ROVER +X axis frame;

			- +Y axis is nominally co-aligned with the RM_ROVER +Y axis frame;

			- +Z axis completes the right-handed frame;

			- The origin is located in the geometrical centre of the PSHS, defined
			as the intersection of the PSHS mechanism rotation axis and the PSHS


			~~~
			\|
			\|
			_\|_ +Zrm
			\| o----------> +Ymast,+Ymast0
			------------------ +Xmast ---------------------------
			\| \| \| ^ +Zrm \| \| \|
			'---\| \| \| \| 0 \| .--'--'
			'--.-----------\|----------\|
			.--\| \| \|---.
			.-. \|============= o--------> ====\| .-.
			\|___\|=\| +Xrm \| \| +Yrm \|=\|___\|
			\|.-. .-.\|
			\|\| \| \| \|\| +Xrm, +Xmast and
			`\| \| \| \|' +Zptr0 are out of
			'_' '_' the page. +Zmast0 is
			~~~~~~~~ ~~~~~~~~ into the page.


	RM Drill Positioner frames:
	~~~~~~~~~~~~~~~~~~~~~~~~~~~

kernels/mk/emrsp_rm_tlm_0001_v001.tm

+6 −2

Original line number	Original line	Diff line number	Diff line
	@@ -78,10 +78,14 @@ Implementation Notes
	'$KERNELS/ik/emrsp_rm_wisdom_v000.ti'		'$KERNELS/ik/emrsp_rm_wisdom_v000.ti'
	'$KERNELS/ik/emrsp_rm_clupi_v000.ti'		'$KERNELS/ik/emrsp_rm_clupi_v000.ti'

	'$KERNELS/ck/emrsp_rm_surf_gnc-tlm_0001_v001.bc'		'$KERNELS/ck/emrsp_rm_surf_test_gnc-tlm_0001_v001.bc'
			'$KERNELS/ck/emrsp_rm_surf_test_gnc-tlm_0002_v001.bc'
			'$KERNELS/ck/emrsp_rm_surf_test_gnc-tlm_0003_v001.bc'
	'$KERNELS/ck/emrsp_rm_surf_mech-tlm_0001_v001.bc'		'$KERNELS/ck/emrsp_rm_surf_mech-tlm_0001_v001.bc'

	'$KERNELS/spk/emrsp_rm_gnc-tlm_0001_v001.bsp'		'$KERNELS/spk/emrsp_rm_test_gnc-tlm_0001_v001.bsp'
			'$KERNELS/spk/emrsp_rm_test_gnc-tlm_0002_v001.bsp'
			'$KERNELS/spk/emrsp_rm_test_gnc-tlm_0003_v001.bsp'
	'$KERNELS/spk/emrsp_rm_ls-plan_v001.bsp'		'$KERNELS/spk/emrsp_rm_ls-plan_v001.bsp'
	'$KERNELS/spk/emrsp_rm_mech-tlm_0001_v001.bsp'		'$KERNELS/spk/emrsp_rm_mech-tlm_0001_v001.bsp'