CubeADCS Cube ADCS Reference Manual [V3.10]
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CubeADCS The complete ADCS solution Reference Manual Part: Doc: Ver: Page: Document Version Domain Date modified Approved by CubeADCS Reference Manual 3.10 2 CubeADCS Reference Manual 3.10 Public 29 March 2018 Name: Mike-Alec Kearney Signature: Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 3 Document Version History Version 3.0 3.02 3.03 3.04 Responsible person(s) Pages Date Description of change V3 First draft V3 Second draft V3 Third draft (Minor formatting) Accept/Reject team changes Added default configuration telecommand and corrected download package size. Added scrub settings tlm and tcm. Updated ADCS state, Communication status tlm packets Update Control Modes Removed command 70, added JPG conversion telecommand and telemetry and the CubeACP status telemetry Added a description for SPI Corrections to magnetometer selection TC and TLM enums. Cam1 and Cam2 designations. Removed commands and telemetries specific to the bootloader Added links to tables Added ‘save unix time to flash’ command and telemetry pair. Updated all telecommand and telementry definitions from node definition XML documents MK WHS MK MK ALL ALL ALL ALL 20/03/2017 28/06/2017 13/07/2017 27/07/2017 3.05 HWJ 24, 28, 67, 78, 84 - 88, 106-111, 140 17/10/2017 3.06 WHS 31,32 16/01/2018 3.07 CJG + HWJ 24, 26, 68, 84 - 88 09/02/2018 3.08 CJG 21 12/02/2018 3.09 WHS 3.10 LV 21/02/2018 21 - 166 9/03/2018 Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 4 List of Acronyms/Abbreviations ACP ADCS CSS ESD I2C MCU MEMS OBC PCB RTC SBC SPI TC TLM UART ADCS Control Program Attitude Determination and Control System Coarse Sun Sensor Electrostatic Discharge Inter-Integrated Circuit Microcontroller Unit Microelectromechanical System Onboard Computer Printed Circuit Board Real-Time Clock Satellite Body Coordinate Serial Peripheral Interface Telecommand Telemetry Universal Asynchronous Receiver/Transmitter Relevant reference documents This document is to be used in combination with the following documents Reference Ref 1 Ref 2 Document name CubeADCS - ICD CubeADCS – User Manual Document version V3.0 or higher V3.0 or higher Relevant CubeACP version This document serves as reference to the CubeACP with the following version numbers Software version Node type identifier Interface version Version 3.11 10 3 Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 5 Table of Contents 1. Introduction ................................................................................................................... 6 2. ADCS Hardware ............................................................................................................. 7 2.1 2.2 2.3 2.4 2.5 2.6 3. Sensor accuracies................................................................................................................................... 7 ADCS Hardware Stack .......................................................................................................................... 7 CubeComputer (ADCS OBC) .............................................................................................................. 8 CubeControl............................................................................................................................................. 9 CubeWheels .......................................................................................................................................... 12 CubeSense Module ............................................................................................................................ 12 Example ADCS Simulation ..........................................................................................14 3.1 3.2 3.3 4. Control Stage 1 .................................................................................................................................... 15 Control Stage 2 .................................................................................................................................... 16 Control Stage 3 .................................................................................................................................... 18 Software Interface .......................................................................................................20 4.1 4.2 4.3 4.4 4.5 UART ........................................................................................................................................................ 20 I2C.............................................................................................................................................................. 20 CAN .......................................................................................................................................................... 21 SPI ............................................................................................................................................................. 21 Telecommands and Telemetries ................................................................................................... 21 Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 6 1. Introduction This document serves as source of information to refer to when using the User Manual, Commissioning Manual, and other CubeADCS documentation. The document contains complete listings of TCs and TLMs, communications examples, and other reference examples to assist in designing a system which will interface with the ADCS. Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 7 2. ADCS Hardware This section provides an overview of the hardware that is contained within the ADCS unit. 2.1 Sensor accuracies The accuracies and strengths of the sensors and actuators contained in the ADCS are shown in the table below. Table 1 - ADCS Sensors and Actuators Sensors & Actuators Magnetometer Sun Sensor Nadir Sensor Coarse Sun Sensor Rate sensor Star Tracker Type 3-axis MagR 2-axis CMOS 2-axis CMOS 6 Photodiodes 3-axis MEMS 2-axis APS Range/FOV ± 60 μT Hemisphere ± 45⁰ Full Sphere ± 20 ⁰/sec 52⁰ x 27⁰ CubeWheel Small BLDC Motor Magnetorquer Rod 3-axis Ferro-magnetic coils ± 1.7 mNms ± 0.2 mNm ± 0.24 Am2 Accuracy (RMS) < 40 nT < 0.2° < 0.2° < 10° < 0.01 ⁰/sec < 0.01⁰ bore sight < 0.03⁰ rotate < 0.0004 mNms < 0.001 mNm < 0.0012 Am2 2.2 ADCS Hardware Stack The ADCS hardware stack depends on the components and options that have been selected. The figure below shows complete stack with all of the ADCS components. Figure 1 - ADCS stack Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 8 Figure 2 below shows examples of disassembled ADCS stacks. Figure 2 - ADCS Hardware Stack Examples 2.3 CubeComputer (ADCS OBC) The controlling unit in the ADCS stack is the CubeComputer OBC. CubeComputer uses a high performance, low power 32-bit ARM Cortex-M3 based MCU with floating point support. The computer was developed for ADCS processing and to be used as a general purpose OBC. The OBC features the following functions as standard: An integrated RTC and an internal and external watchdog A 32 kB EEPROM is used for the firmware (boot loader) A 4 MB Flash for the code and in-flight reprogramming A FPGA for flow-through EDAC and SEU protection Current monitoring for SEL (latch-up) protection and power cycling ability A MicroSD card for 2 GB of data storage I2C, CAN, UART interfaces to another OBC The basic physical specifications of the board are shown below: Table 2 – CubeComputer Physical Specifications Mass Average power when running ADCS Peak power when running ADCS Figure 3 shows a photo of CubeComputer. 64g 120mW 180mW Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 9 Figure 3 - CubeComputer V4.1 2.4 CubeControl All attitude sensors and control actuators are accessed at 1 Hz by CubeComputer through the ADCS actuator module called CubeControl. A block diagram of this module is shown in Figure 4 below. Figure 4 - CubeControl hardware layout The digital processing of the module consists of two low power micro-controllers with several I/O ports, Analog to Digital inputs and a I2C communication bus. The I2C bus is connected to CubeComputer and CubeSense. Figure 5 shows a photo of CubeControl. Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 10 Figure 5 - CubeControl Module The peripheral sensors that connect to CubeControl are discussed below. 2.4.1 Coarse sun sensors: Ten planar photodiodes are mounted on various outside facets of the CubeSat structure. The short circuit current from these diodes is roughly proportional to the cosine of the sun vector angle to the photodiode surface’s normal. A current to voltage amplifier is used for each photodiode to obtain a signal large enough for a 10-bit analogue to digital (A/D) conversion. The sun vector direction can then be extracted from the largest three photodiode measurements – assuming no shadowing from any deployed satellite structures. The earth albedo will contaminate the measurements and reduce the sun vector direction accuracy to a RMS value of roughly 10⁰. Figure 6 – Coarse Sun Sensors 2.4.2 Magnetometer: A magneto-resistive 3-axis magnetic field sensor is used as magnetic sensor. A deployable and redundant non-deployable option is offered. The deployment of the magnetometer is done to reduce magnetic noise that the internal subsystems of the satellite may cause. The three analogue output channels of the magnetometer are low pass filtered and 16-bit A/D converted on the CubeControl module. Figure 7 shows the magnetometer in stowed and deployed configuration, also shows the redundant version. Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 11 Figure 7 - Stowed, deployed and redundant magnetometer 2.4.3 MEMS Rate Sensor Three MEMS type rate sensors are used to measure the X/Y/Z-spin rate during detumbling. This sensor is mounted on the CubeControl module. 2.4.4 Magnetorquers (CubeTorquers & Cubecoil) Two magnetorquer rods (CubeTorquers) are used to generate a controlled magnetic moment in the Y- and Z-body axes. These rods are mounted on the CubeControl module. In the Xbody axis a torquer coil (CubeCoil) will be used. The coil is mounted between two PC104 modules. By pulse width modulation (PWM) of the magnetorquer currents a magnetic moment vector in a desired direction and size can be obtained. Figure 8 shows the 28 gram CubeTorquer of length 60 mm and 10 mm diameter. The torquers are manufactured using a low remanence ferromagnetic core. A nominal magnetic moment of 0.2 Am2 is obtained using 2.1 V at 70 mA current (147 mW). This nominal value is obtained using a 42% PWM duty cycle from the 5 V regulated bus. Figure 9 shows the CubeCoil of 46 gram with PC104 form factor. The maximum magnetic moment is 0.13 Am2 from 5V at 310 mW. Figure 8 - CubeTorquer Magnetorquer Rod Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 12 Figure 9 - CubeTorquer Magnetorquer Coil 2.5 CubeWheels CubeWheels come in three sizes (Small, Medium and Large) as shown in Figure 10. These wheels have integrated digital processing electronics as well as motor drivers. Reference speeds are sent to the wheels by CubeComputer over the I2C bus. The wheels are either mounted on a supplied CubeConnect board, or mounted by the user. Figure 10: Small/Medium/Large CubeWheel Unit 2.6 CubeSense Module CubeSense is a dual camera sensor. CubeSense uses low power CMOS camera modules with resolution of 1024x1024 pixels, fitted with a fisheye lens with an effective field of view of 180°. Each of the two CubeSense cameras can be used as either a sun sensor or a nadir sensor. If configured as a sun sensor, the camera is fitted with a neutral density filter to reduce the sun intensity on the image sensor. Both the sun and Nadir sensors does image processing to determine the center points of the sun and earth, and ultimately to determine accurate vectors to these bodies. Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 13 CubeSense uses an FPGA to read images from the camera into SRAM. A low-power microcontroller (MCU) then performs image processing on this stored image to determine the sun and nadir vectors. Both cameras are connected to both FPGAs to provide redundancy in case of failure of one of the FPGAs or SRAMs. CubeComputer reads the calculated vectors from CubeSense at 1Hz. Figure 11 shows a block diagram of the hardware layout of CubeSense. Figure 12 shows a picture of a typical CubeSense unit. The dual (sun and nadir) cameras can be board-mounted with boresights in opposite or orthogonal directions, but can also be mounted on a harness for custom placement. Figure 11 - Block Diagram of CubeSense Figure 12 - CubeSense Module with Sun and Nadir Cameras Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 14 3. Example ADCS Simulation The orbit used for the simulation tests is a 500 km circular sun-synchronous orbit. The orbit elements used are presented in Table 3. The simulation was executed using a sample period of one second for all models, controllers and estimators. In practice the sampling period of the onboard control loop can be increased to at least ten seconds, without any noticeable degradation in performance (due to the slow open and closed loop dynamics). However, for the simulation accuracy of the numeric integrators it was decided to implement the simulation loop at 1 Hz. An SGP4 model was used to simulate the satellite’s orbit in combination with an accurate sun orbit model. The geomagnetic field was simulated using a 10th order IGRF spherical harmonic model. Table 3 - Orbit used for the 3U CubeSat ADCS Testing Orbit Parameter Semi-major axis Initial Inclination Orbital Period Eccentricity Sun-synchronicity Value 6992 km 97.98⁰ 5818 sec 0.0011 LTDN 10h25 All the ADCS sensors were modelled with realistic measurement noise and slow varying offset errors where applicable. The ADCS actuators were modelled with their saturation and quantization limits. Table 4 shows the inertia tensor values of the 3U CubeSat as used in the simulations. The remainder of this section will present graphical simulation results of the ADCS of a satellite starting with typical initial conditions for the various control stages. Table 4 - 3U CubeSat MOI & POI values Inertia Parameter Ixx Iyy Izz Ixy Ixz Iyz Value (kgm2) 0.007 0.04 0.038 0.000097 -0.000068 0.000055 Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 15 3.1 Control Stage 1 The satellite is detumbled using a BDot controller and MEMS rate sensor for direct measurement of the body YB angular rate. The initial roll, pitch and yaw angles are 0⁰, 0⁰ and T 45⁰ respectively. The initial angular rate vector (orbit referenced) is: B / O 5 10 0 ⁰/sec. The magnetic controller is enabled after 0.5 orbits. Figure 13 shows the results of Control Stage 1 from detumble into Y-Thomson stabilization. It is clear how the XB and ZB orbit referenced (ORC) body rates are quickly dumped after the first controlled orbit. The YB body rate is controlled to a reference rate of -2 ⁰/sec. The attitude angles are controlled finally into an almost perfect pitch rotation for a Y-Thomson spin. Detumbling to Y-Thomson (MT-total = 3166 sec) 10 ORC Angular rates (deg/s) 8 6 4 2 Wxo 0 Wyo -2 Wzo -4 -6 -8 -10 0 2000 4000 6000 8000 10000 12000 Time (sec) Detumbling to Y-Thomson (MT-total = 3166 sec) 180 135 RPY Attitude (deg) 90 45 Roll 0 Pitch Yaw -45 -90 -135 -180 0 2000 4000 6000 8000 10000 12000 Time (sec) Figure 13: Detumbling to Y-Thomson in Control Stage 1 Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 16 3.2 Control Stage 2 The next simulation starts in a Y-Thomson spin and is left for 0.5 orbits before the Y-wheel momentum controller is enabled. The Y-wheel momentum is maintained at -0.001 Nms, using a Cross-product magnetic controller. After 0.5 orbits the Y-wheel controller is also enabled to 3-axis stabilize the attitude angles to zero values (see Figure 14). A pitch attitude maneuver to +90⁰ and back to 0⁰ can also be seen. These controllers make use of the estimated rate and quaternion values of the EKF estimator, using only magnetometer measurements and the CubeSense sensor for sun and nadir measurement vectors, the latter sensor can only supply measurements during the sunlit part of an orbit. Y-Thomson to Y-Wheel control (MT-total = 373 sec) 1 ORC Angular rates (deg/s) 0.5 0 Wxo -0.5 Wyo -1 Wzo -1.5 -2 -2.5 0 2000 4000 6000 8000 10000 12000 Time (sec) Y-Thomson to Y-Wheel control (MT-total = 373 sec) 180 135 RPY Attitude (deg) 90 45 Roll 0 Pitch Yaw -45 -90 -135 -180 0 2000 4000 6000 8000 10000 12000 Time (sec) Figure 14: Y-Thomson to Y-Momentum wheel in Control Stage 2 Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 17 The last simulation for Control Stage 2 presents the nutation damping performance and the pitch tracking performance using only the Y-wheel and the Cross-Product magnetic controller. The initial roll, pitch and yaw angles are 10⁰, 0⁰ and 5⁰ respectively and the controllers are only enabled after 0.5 orbits. The roll and yaw nutation can clearly be seen in Figure 15 for the Ywheel momentum of -0.001 Nms. When the controllers are enabled, the nutation angles are damped within 0.5 orbits and the pitch angle controlled to zero. Figure 18 also shows a 10⁰ pitch rotation maneuver. The maximum attitude RMS errors in the sunlit part of the orbit is less than 0.4⁰ and in eclipse less than 1⁰. Y-Wheel control (MT-total = 154 sec) 15 RPY Attitude (deg) 10 5 Roll 0 Pitch Yaw -5 -10 -15 0 2000 4000 6000 8000 10000 12000 Time (sec) Figure 15: Y-Momentum wheel control performance in Control Stage 2 Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 18 3.3 Control Stage 3 The last couple of simulations show the performance that can be expected with the zero bias 3-axis quaternion feedback reaction wheel controller and the momentum dumping CrossProduct magnetic controller. The initial roll, pitch and yaw angles are 10⁰, 0⁰ and 5⁰ respectively and the Y-wheel also has an initial angular momentum of -0.001 Nms. The controllers are enabled after 0.5 orbits (same as previously). Figure 16 shows the performance when the 3-axis reaction wheel controller is enabled. The roll, pitch and yaw angles are quickly controlled to below 2⁰ within the 60 second settling time of the controller. The Y-wheel momentum is dumped to zero by the magnetic controller within 30 minutes. 3-Axis Reaction Wheel control (MT-total = 155 sec) 15 RPY Attitude (deg) 10 5 Roll 0 Pitch Yaw -5 -10 -15 0 2000 4000 6000 8000 10000 12000 Time (sec) Figure 16: Reaction wheel control performance in Control Stage 3 without CubeStar The reason for the initial RPY attitude deviations after the controllers are enabled, has to do with EKF estimation errors caused by eclipse (when the controllers are enabled there is no availability of sun and nadir vector measurements) and the Y-wheel momentum that needs to be dumped. After the end of eclipse (around 4800 seconds) the attitude RMS errors quickly reduce to about 0.25⁰ in the sunlit part of the orbit and 1⁰ in eclipse). Figure 16 also shows a 10⁰ roll, -10⁰ pitch and 5⁰ yaw rotation maneuver and thereafter a maneuver back to zero attitude at 8500 seconds. Figure 17 shows the performance when the 3-axis reaction wheel controller is enabled with CubeStar vector measurements included in the EKF. The roll, pitch and yaw angles are quickly controlled to below 1⁰ within the 60 second settling time of the controller. The Y-wheel momentum is dumped to zero by the magnetic controller within 30 minutes. Thereafter the RPY attitude RMS errors are reduced to below 0.02⁰. Figure 17 also shows a 10⁰ roll, -10⁰ pitch Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 19 and 5⁰ yaw rotation maneuver and thereafter a maneuver back to zero attitude at 8500 seconds. 3-Axis Reaction Wheel control (with CubeStar) (MT-total = 151 sec) 15 RPY Attitude (deg) 10 5 Roll 0 Pitch Yaw -5 -10 -15 0 2000 4000 6000 8000 10000 12000 Time (sec) Figure 17: Reaction wheel control performance in Control Stage 3 with CubeStar Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 20 4. Software Interface 4.1 UART The standard specifications of the CubeADCS UART interfaces are given in Table 5. These specifications are however customisable if CubeComputer is the main OBC of the satellite. Table 5 – Standard UART specifications for CubeComputer Parameter Baud rate Data bits Parity Stop bits Value 115200 8 None 1 The UART protocol makes use of start-of-message (SOM 0x7F) and end-of-message (EOM 0xFF) identifiers to mark the beginning and end of a transmission. An escape character (ESC 0x1F) precedes the SOM and EOM identifiers. When decoding a UART message, on reception of the escape character, the byte following the escape character has the following implications: Table 6 – UART message decoding Byte received after ESC character Meaning 0x7F 0xFF 0x1F other Start of message End of meaasge Data byte 0x1F Should not occur - error More information regarding the UART protocol can be found in the CubeADCS User Manual and in Section 4.5. 4.2 I2C If CubeComputer is not used as the main OBC of the satellite (therefore it is only the ADCS OBC), it acts as a slave on the system I2C bus with 7-bit addressing. The default 8-bit write and read addresses of CubeComputer are shown in Table 7. This is the first byte of the I2C transaction. Table 7 – CubeComputer (slave node) I2C addresses I2C address Function Write Read 0xAE 0xAF Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 21 More details regarding the communications interface (including protocols for TCs, TLM requests, and file downloading) can be found in the CubeADCS User Manual and in Section 4.5. 4.3 CAN The CubeADCS unit can act as a slave or a master on a 1 Mbps CAN bus. The combination of a CAN transceiver and a CAN controller module on CubeComputer allows CubeADCS unit to interface at CAN bus voltage levels of 3.3 V or 5 V. A termination resistor between the CANH and CANL lines can be populated if required by the user. More information regarding the CAN protocol can be found in the CubeADCS ICD. 4.4 SPI The CubeComputer has an open SPI module which can be connected to the PC104 header. This optional SPI connection intended use is for an Unlocked ACP (See [Ref 2]). This SPI bus will allow the CubeComputer to be connected to slave nodes. The ACP is supplied with a board support package which contains examples of SPI drivers. The user can make use of these examples to customize the SPI driver to suit their specific needs. Please note that unlike the I2C, UART and CAN, the SPI cannot be used as a means to communicate with CubeComputer (ACP). It is provided to expand the CubeComputer’s capabilities for users who intend to use an Unlocked version of the ACP. 4.5 Telecommands and Telemetries 4.5.1 Telemetry and Telecommand IDs The first byte of a message will determine whether the message is a telecommand or telemetry request, and also contain the ID of the telecommand or telemetry request. The most significant bit determines whether it is a telecommand or telemetry request, and the lower 7 bits contain the ID. Table 8: Telecommand or telemetry frame ID Bit(s) Data 7 0 = telecommand, 1 = telemetry request 0:6 Telecommand or telemetry frame ID When considering the full byte identifier, telecommands will have values in the range 0-127 and telemetry requests in the range 128-255 because of the value of the most significant bit. Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 22 The format of the message varies for each telecommand and telemetry ID. The length and content of all the telemetry frames for the ACP are detailed in the tables in section 4.5.7, while the telecommands are detailed in section 4.5.8. The commands and telemetry definitions in these table apply to the 3-Axis CubeACP program. Other versions of the ADCS firmware might have different definitions. 4.5.2 I2C Telemetry request format Telemetry is requested from the ADCS over the system I2C bus by either performing a combined read-write operation (repeated start condition) or a separate master write to select the TLM register, followed by a master read operation. The first write following the start condition is the address of the node (0xAE). This is followed by the telemetry frame identifier. In the case of a separate write and read, a stop condition will follow and the master will then issue another start condition. In the case of the combined write-then-read operation, the master will issue a repeated start condition (without a preceding stop condition). The second start condition will be followed by the node read address (0xAF). The master then issues a number of read cycles depending on the length of the telemetry frame. S 0xAE TLM ID Master writes node address (write operation) Master writes telemetry frame ID S 0xAF TLM byte 0 Master writes node address (read operation) Master reads first TLM data byte ... P Figure 18: I2C Telemetry request using I2C repeated start condition Because the master determines the number of bytes that are read, it is possible to read past the end of a telemetry frame or to read an incomplete telemetry frame. The ADCS will set an error flag if an incorrect number of bytes are read for a given TLM ID. This flag is stored in the Communication Status frame (TLMID 144), and can be read using a telemetry request. The flag will remain set until the Clear Latched Error Flags (TCID 12) is issued. 4.5.3 I2C Telecommand format Telecommands are sent by performing a master write to the module. The first data byte (after the address byte) is the telecommand identifier, followed by the telecommand parameters. S 0xAE TC ID TC data 0 Master writes node address (write operation) Master writes telecommand ID Master writes data bytes ... P Figure 19: I2C Telecommand Because the ADCS is an I2C slave, it cannot acknowledge telecommands by performing an I2C write transaction. The telecommand acknowledge status must therefore be polled via a telemetry request (TLMID 240). Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 23 It is not a requirement that the telecommand acknowledge status has to be read following a telecommand, but an error will occur if another telecommand is sent before the Telecommand Processed flag (contained in the Telecommand Acknowledge frame) has been set. In this case the telecommand buffer will be overwritten while the first telecommand is being processed, leading to corrupt telecommand data. The Processed flag is not an indication of the telecommand execution status. The Processed flag is only an indication that the module is ready for another telecommand to be sent. The Telecommand Acknowledge frame also contains a TC Error flag. This flag will be set if an invalid telecommand ID was received for the last telecommand, or if the number of data bytes were incorrect or contained invalid data. The following sequence illustrates the actions that the master has to take to ensure proper telecommand execution: 1. Send telecommand. 2. Poll Telecommand Acknowledge Telemetry Format until the Processed flag equals 1. 3. Confirm telecommand validity by checking the TC Error flag of the last read Telecommand Acknowledge Telemetry Format. 4. Back to step 1 (if another telecommand is to be sent) 4.5.4 UART Telemetry request format A telemetry request via the UART will have the following form: 0x1F 0x7F Start-of-message identifier TLM ID 0x1F 0xFF End-of-message identifier Figure 20: UART Telemetry request The reply will then have the following form: 0x1F 0x7F Start-of-message identifier TLM ID TLM byte 0 ... 0x1F 0xFF End-of-message identifier Figure 21: UART Telemetry reply 4.5.5 UART Telecommand format A telecommand via the UART will have the following form: 0x1F 0x7F Start-of-message identifier TC ID TC data byte 0 ... 0x1F 0xFF End-of-message identifier Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 24 Figure 22: UART Telecommand An acknowledge message will be sent as reply to the telecommand. 0x1F 0x7F Start-of-message identifier TC ID TC Error flag 0 = no error 1 = invalid TC ID 2 = invalid parameters 0x1F 0xFF End-of-message identifier Figure 23: UART Telecommand acknowledge The reply will contain two data bytes, the last one being the TC Error flag. The receipt of the telecommand acknowledge will indicate that another telecommand may be sent. Sending another telecommand before the acknowledge will corrupt the telecommand buffer. 4.5.6 Telemetry logging The CubeACP can save telemetry frames to a log file on the SD card, and also output “unsolicited” telemetry on the UART. In both cases, the telemetry frames that are selected for logging, are specified using a 10-byte mask. The bits in the mask each represent a specific telemetry frame (with specific ID). Not all telemetry frames can be logged. The frames which can be logged, their IDs and respective bit-position in the 10-byte mask can be found in section 4.5.9. Telemetry log frames which are output on the UART have the following format. The message identifier is always 255 (0xFF). This is followed by the 10-byte mask which further determines which telemetry frames follow. Content Offset (bytes) Len (bytes) Log ID (0xFF) Mask TLM frame 1 TLM frame 2 … TLM frame N 0 1 1 10 11 6 17 6 … 11 + (N-1)*6 … 6 Figure 24 Contents of UART log unsolicited telemetry transmissions The mask is a 10-byte array, where each bit in the mask identifies a unique 6-byte telemetry packet. For every bit that is set in the mask there will be a corresponding 6-byte telemetry frame appended to the UART transmission. The total length of the message is 11+N*6 bytes where N is the number of bits that are set in the mask. Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 25 4.5.7 Telecommands Table 9: List of Telecommands ID Name Description Length (bytes) General 1 Reset Perform a reset - Table 10: Reset Command 1 Format 2 Current Unix Time Current Unix Time - Table 11: Current Unix 6 Time Command Format 3 Cache enabled state Cache enabled state - Table 12: Cache 1 enabled state Command Format 4 Reset Log Pointer Reset pointer to log buffer (from where 0 LastLogEvent TLM is returned) - Table 13: Reset Log Pointer Command Format 5 Advance Log Pointer Advance pointer to log buffer (from where 0 LastLogEvent TLM is returned) - Table 14: Advance Log Pointer Command Format 6 Reset Boot Registers Reset Boot Registers - Table 15: Reset Boot 0 Registers Command Format 7 Deploy Magnetometer Boom Deploy magnetometer boom - Table 16: 1 Deploy Magnetometer Boom Command Format 8 SRAM Scrub Parameters SRAM scrubbing size - Table 17: SRAM Scrub 2 Parameters Command Format 9 Unix Time Save to Flash Configuration settings for unixtime flash 2 memory persistence - Table 18: Unix Time Save to Flash Command Format 10 ADCS Run Mode Set ADCS enabled state & control loop 1 behaviour - Table 19: ADCS Run Mode Command Format 11 ADCS Power Control Control power to selected components - 3 Table 21: ADCS Power Control Command Format 12 Clear Errors Clear Latched Error Flags - Table 23: Clear 1 Errors Command Format 13 Set Attitude Control Mode Set attitude control mode - Table 24: Set 4 Attitude Control Mode Command Format 14 Set Attitude Estimation Mode Set attitude estimation mode - Table 26: Set Attitude Estimation Mode Command Format 1 Part: Doc: Ver: Page: 15 Commanded Attitude Angles CubeADCS Reference Manual 3.10 26 Commanded attitude angles - Table 28: 6 Commanded Attitude Angles Command Format 16 Set Magnetorquer Output Set magnetorquer output (only valid if 6 Control Mode is None) - Table 29: Set Magnetorquer Output Command Format 17 Set Wheel Speed Set wheel speed (only valid if Control Mode is 6 None) - Table 30: Set Wheel Speed Command Format 18 Trigger ADCS Loop Trigger ADCS to perform one iteration of the 0 control loop (only valid when ADCS Run Mode is Triggered) - Table 31: Trigger ADCS Loop Command Format 19 Trigger ADCS Loop with Simulated Trigger ADCS to perform one iteration of the Sensor Data control loop (only valid when ADCS Run 90 Mode is Triggered) - Table 32: Trigger ADCS Loop with Simulated Sensor Data Command Format 20 ADCS Configuration Current configuration - Table 33: ADCS 272 Configuration Command Format 21 Set Magnetorquer Configuration Set magnetorquer configuration parameters - 3 Table 37: Set Magnetorquer Configuration Command Format 22 Set Wheel Configuration Set wheel configuration parameters - Table 4 38: Set Wheel Configuration Command Format 23 Set Rate Gyro Configuration Set rate gyro configuration parameters - 3 Table 39: Set Rate Gyro Configuration Command Format 24 Set CSS Alignment Configuration Set photodiode pointing directions - Table 40: 10 Set CSS Alignment Configuration Command Format 25 Set CSS Scale Factor Configuration Set photodiode scale factors - Table 41: Set 11 CSS Scale Factor Configuration Command Format 26 Set Cam1 Sensor Configuration Set Cam1 sensor configuration parameters - 15 Table 42: Set Cam1 Sensor Configuration Command Format 27 Set Cam2 Sensor Configuration Set Cam2 sensor configuration parameters Table 43: Set Cam2 Sensor Configuration Command Format 15 Part: Doc: Ver: Page: 28 CubeADCS Reference Manual 3.10 27 Set Nadir Sensor Mask Set Nadir Sensor Mask Configuration 1 - Configuration 1 Table 44: Set Nadir Sensor Mask 8 Configuration 1 Command Format 29 Set Nadir Sensor Mask Set Nadir Sensor Mask Configuration 2 - Configuration 2 Table 45: Set Nadir Sensor Mask 8 Configuration 2 Command Format 30 Set Nadir Sensor Mask Set Nadir Sensor Mask Configuration 3 - Configuration 3 Table 46: Set Nadir Sensor Mask 8 Configuration 3 Command Format 31 Set Nadir Sensor Mask Set Nadir Sensor Mask Configuration 4 - Configuration 4 Table 47: Set Nadir Sensor Mask 8 Configuration 4 Command Format 32 Set Nadir Sensor Mask Set Nadir Sensor Mask Configuration 5 - Configuration 5 Table 48: Set Nadir Sensor Mask 8 Configuration 5 Command Format 33 Set Magnetometer Mounting Set magnetometer mounting configuration Configuration parameters - Table 49: Set Magnetometer 6 Mounting Configuration Command Format 34 Set Magnetometer Offset and Set Magnetometer Offset and Scaling Scaling Configuration Configuration - Table 50: Set Magnetometer 12 Offset and Scaling Configuration Command Format 35 Set Magnetometer Sensitivity Set Magnetometer Sensitivity Configuration - Configuration Table 51: Set Magnetometer Sensitivity 12 Configuration Command Format 36 Set Rate Sensor Configuration Set Rate Sensor Offsets - Table 52: Set Rate 7 Sensor Configuration Command Format 37 Set Star Tracker Configuration Set configurations of CubeStar - Table 53: Set 26 Star Tracker Configuration Command Format 38 Set Detumbling Control Set controller gains and reference values for Parameters Detumbling control mode - Table 54: Set 14 Detumbling Control Parameters Command Format 39 Set Y-Wheel Control Parameters Set controller gains and reference value for Y- 20 wheel control mode - Table 55: Set Y-Wheel Control Parameters Command Format 40 Set Reaction Wheel Control Set controller gains and reference value for Parameters reaction wheel control mode - Table 56: Set 8 Reaction Wheel Control Parameters Command Format 41 Set Moments of Inertia Set satellite moments of inertia - Table 57: Set Moments of Inertia Command Format 12 Part: Doc: Ver: Page: 42 Set Products of Inertia CubeADCS Reference Manual 3.10 28 Set satellite products of inertia - Table 58: Set 12 Products of Inertia Command Format 43 Set Estimation Parameters 1 Set estimation noise covariance and sensor 16 mask 1 - Table 59: Set Estimation Parameters 1 Command Format 44 Set Estimation Parameters 2 Set estimation noise covariance and sensor 14 mask 2 - Table 60: Set Estimation Parameters 2 Command Format 45 SGP4 Orbit Parameters SGP4 Orbit Parameters - Table 61: SGP4 Orbit 64 Parameters Command Format 46 Set SGP4 Orbit Inclination Set SGP4 Orbit Inclination - Table 63: Set 8 SGP4 Orbit Inclination Command Format 47 Set SGP4 Orbit Eccentricity Set SGP4 Orbit Eccentricity - Table 64: Set 8 SGP4 Orbit Eccentricity Command Format 48 Set SGP4 Orbit RAAN Set SGP4 Orbit RAAN - Table 65: Set SGP4 8 Orbit RAAN Command Format 49 Set SGP4 Orbit Argument of Set SGP4 Orbit Argument of Perigee - Table Perigee 66: Set SGP4 Orbit Argument of Perigee 8 Command Format 50 Set SGP4 Orbit B-Star Drag term Set SGP4 Orbit B-Star Drag term - Table 67: 8 Set SGP4 Orbit B-Star Drag term Command Format 51 Set SGP4 Orbit Mean Motion Set SGP4 Orbit Mean Motion - Table 68: Set 8 SGP4 Orbit Mean Motion Command Format 52 Set SGP4 Orbit Mean Anomaly Set SGP4 Orbit Mean Anomaly - Table 69: Set 8 SGP4 Orbit Mean Anomaly Command Format 53 Set SGP4 Orbit Epoch Set SGP4 Orbit Epoch - Table 70: Set SGP4 8 Orbit Epoch Command Format 54 Set Tracking Controller Gain Set controller gains for tracking control mode Parameters - Table 71: Set Tracking Controller Gain 12 Parameters Command Format 55 Tracking Controller Target Target reference for tracking control mode - Reference Table 72: Tracking Controller Target 12 Reference Command Format 56 Set Mode of Magnetometer Use of main or redundant magnetometer - Operation Table 73: Set Mode of Magnetometer 1 Operation Command Format 57 Convert to JPG file Convert raw or bmp files to JPG - Table 74: 3 Convert to JPG file Command Format 60 Default Configuration Retrieves default configuration and saves it to flash - Table 75: Default Configuration Command Format 0 Part: Doc: Ver: Page: 63 Save Configuration CubeADCS Reference Manual 3.10 29 Save current configuration to flash memory - 0 Table 76: Save Configuration Command Format 64 Save Orbit Parameters Save current orbit parameters to flash 0 memory - Table 77: Save Orbit Parameters Command Format 80 Save Image Save and capture image from one of 2 CubeSense cameras or CubeStar camera to SD card - Table 78: Save Image Command Format 104 SD Log1 Configuration Log selection and period for LOG1 - Table 81: 13 SD Log1 Configuration Command Format 105 SD Log2 Configuration 106 UART Log Configuration Log selection and period for LOG2 - Table 83: 13 SD Log2 Configuration Command Format Log selection and period for UART 12 (unsolicited TLM) - Table 84: UART Log Configuration Command Format 108 Erase File Erase File - Table 85: Erase File Command 3 Format 112 Load File Download Block Fill download buffer with file contents - Table 8 87: Load File Download Block Command Format 113 Advance File List Read Pointer Advance File List Read Pointer - Table 88: 0 Advance File List Read Pointer Command Format 114 Initiate File Upload Initiate File Upload - Table 89: Initiate File 2 Upload Command Format 115 File Upload Packet File Upload Packet - Table 91: File Upload 22 Packet Command Format 116 Finalize Upload Block Finalize Uploaded File Block - Table 92: 7 Finalize Upload Block Command Format 117 Reset Upload Block Reset HoleMap for Upload Block - Table 93: 0 Reset Upload Block Command Format 118 Reset File List Read Pointer Reset File List Read Pointer - Table 94: Reset 0 File List Read Pointer Command Format 119 Initiate Download Burst Initiate Download Burst - Table 95: Initiate 2 Download Burst Command Format 120 Hole Map 1 File Upload Hole Map 1 - Table 96: Hole Map 16 1 Command Format 121 Hole Map 2 File Upload Hole Map 2 - Table 97: Hole Map 16 2 Command Format 122 Hole Map 3 File Upload Hole Map 3 - Table 98: Hole Map 3 Command Format 16 Part: Doc: Ver: Page: 123 Hole Map 4 CubeADCS Reference Manual 3.10 30 File Upload Hole Map 4 - Table 99: Hole Map 16 4 Command Format 124 Hole Map 5 File Upload Hole Map 5 - Table 100: Hole 16 Map 5 Command Format 125 Hole Map 6 File Upload Hole Map 6 - Table 101: Hole 16 Map 6 Command Format 126 Hole Map 7 File Upload Hole Map 7 - Table 102: Hole 16 Map 7 Command Format 127 Hole Map 8 File Upload Hole Map 8 - Table 103: Hole 16 Map 8 Command Format Table 10: Reset Command Format ID 1 Parameters Length 1 (bytes) Description Perform a reset Parameters Offset Length (bits) (bits) 0 8 Name Data Description Type Magic UINT number Magic number to make sure it is a valid reset command. Should equal 0x5A Table 11: Current Unix Time Command Format ID 2 Description Current Unix Time Parameters Length (bytes) Parameters Offset Length (bits) (bits) 0 32 Name 6 Data Description Type Current Unix Time UINT Time in s since 01/01/1970, 00:00. (Unit of measure is [s]) 32 16 Milliseconds UINT Current millisecond count. (Unit of measure is [ms]) Table 12: Cache enabled state Command Format ID 3 Description Cache enabled state Parameters Parameters Length (bytes) Offset (bits) Length (bits) 0 1 Name Enabled state Data Type BOOL 1 Description Enabled state Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 31 Table 13: Reset Log Pointer Command Format ID 4 Parameters Length (bytes) 0 Description Reset pointer to log buffer (from where LastLogEvent TLM is returned) Table 14: Advance Log Pointer Command Format ID 5 Parameters Length (bytes) 0 Description Advance pointer to log buffer (from where LastLogEvent TLM is returned) Table 15: Reset Boot Registers Command Format ID 6 Parameters Length (bytes) Description Reset Boot Registers 0 Table 16: Deploy Magnetometer Boom Command Format ID 7 Parameters Length 1 (bytes) Description Deploy magnetometer boom Parameters Offset Length (bits) (bits) 0 8 Name Data Description Type Timeout UINT Deployment actuation timeout value. (Unit of measure is [s]) Table 17: SRAM Scrub Parameters Command Format ID 8 Description SRAM scrubbing size Parameters Parameters Length (bytes) Offset (bits) Length (bits) 0 16 Name Data Type Scrub Size UINT 2 Description Scrub Size Table 18: Unix Time Save to Flash Command Format ID 9 Parameters Length (bytes) Description Configuration settings for unixtime flash memory persistence Parameters Offset Length (bits) (bits) 0 1 Name 2 Data Description Type Save Now BOOL Save current unixtime to flash memory Part: Doc: Ver: Page: 1 1 Save On Update CubeADCS Reference Manual 3.10 32 BOOL Save unixtime to flash memory whenever there is a command to update the unixtime 2 1 Save Periodic BOOL Save unixtime to flash memory periodically 8 8 Period UINT Interval at which to save unixtime to flash memory. (Unit of measure is [s]) Table 19: ADCS Run Mode Command Format ID 10 Parameters 1 Length (bytes) Description Set ADCS enabled state & control loop behaviour Parameters Offset Length (bits) (bits) 0 8 Name Data Description Type Enabled ENUM Set ADCS enabled state. When disabled the CubeACP will not use the ADCS I2C bus. Possible values are in Table 20: AdcsRunMode Enumeration Values Table 20: AdcsRunMode Enumeration Values Numeric Value Name Description 0 Off ADCS loop is inactive 1 Enabled ADCS 1Hz loop is active 2 Triggered ADCS will execute control loop only when triggered 3 Simulation ADCS is in simulation mode Table 21: ADCS Power Control Command Format ID 11 Parameters Length (bytes) Description Control power to selected components Parameters Offset Length (bits) (bits) 0 2 Name Data 3 Description Type CubeControl Signal Power Selection ENUM Control power to electronics of CubeControl Signal PIC. Possible values are in Table 22: PowerSelect Enumeration Values Part: Doc: Ver: Page: 2 2 CubeControl Motor CubeADCS Reference Manual 3.10 33 ENUM Power Selection Control power to electronics of CubeControl Motor PIC. Possible values are in Table 22: PowerSelect Enumeration Values 4 2 CubeSense Power ENUM Selection Control power to the CubeSense. Possible values are in Table 22: PowerSelect Enumeration Values 6 2 CubeStarPower ENUM Power Selection Control power to the CubeStar. Possible values are in Table 22: PowerSelect Enumeration Values 8 2 CubeWheel1Power ENUM Power Selection Control power to the CubeWheel1. Possible values are in Table 22: PowerSelect Enumeration Values 10 2 CubeWheel2Power ENUM Power Selection Control power to the CubeWheel2. Possible values are in Table 22: PowerSelect Enumeration Values 12 2 CubeWheel3Power ENUM Power Selection Control power to the CubeWheel3. Possible values are in Table 22: PowerSelect Enumeration Values 14 2 Motor Power ENUM Control power to Motor electronics. Possible values are in Table 22: PowerSelect Enumeration Values 16 2 GPS Power ENUM Control power to GPS LNA. Possible values are in Table 22: PowerSelect Enumeration Values Table 22: PowerSelect Enumeration Values Numeric Value Name Description 0 Permanently Off Permanently Off 1 Permanently On Permanently On 2 Power state depends on current Power state depends on current control control mode mode Simulated Auto Mode Simulate power control - Nodes are not 3 actually enabled, but the ACP behaves as if they are. This setting is used for HIL simulations Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 34 Table 23: Clear Errors Command Format ID 12 Parameters Length (bytes) Description Clear Latched Error Flags Parameters Offset Length (bits) (bits) 0 1 ADCS Error Flags BOOL Clear ADCS error flags 1 1 HK Error Flags BOOL Clear HK Error flags Name 1 Data Description Type Table 24: Set Attitude Control Mode Command Format ID 13 Parameters Length (bytes) Description Set attitude control mode Parameters Offset Length (bits) (bits) 0 8 Name 4 Data Description Type Control Mode ENUM Attitude control mode. Possible values are in Table 25: ConModeSelect Enumeration Values 8 1 Override flag BOOL Ignore current state and force control mode (if this flag is not set, certain control transitions will not be allowed) 16 16 Timeout UINT Control timeout duration. Control will revert to None when timer reaches zero. 0xFFFF for infinite timeout. (Unit of measure is [s]) Table 25: ConModeSelect Enumeration Values Numeric Value Name Description 0 No control No control 1 Detumbling control Detumbling control 2 Y-Thomson spin Y-Thomson spin 3 Y-Wheel momentum stabilized - Y-Wheel momentum stabilized - Initial Initial Pitch Acquisition Pitch Acquisition Y-Wheel momentum stabilized - Y-Wheel momentum stabilized - Steady Steady State State 5 XYZ-Wheel control XYZ-Wheel control 6 Rwheel sun tracking control Rwheel sun tracking control 7 Rwheel target tracking control Rwheel target tracking control 4 Part: Doc: Ver: Page: 8 Very Fast-spin Detumbling control CubeADCS Reference Manual 3.10 35 10Hz Detumbling control within CubeControl 9 Fast-spin Detumbling control Fast Detumbling control 10 User Defined Control Mode 1 User defined, or custom control mode 1 11 User Defined Control Mode 2 User defined, or custom control mode 2 12 Stop R-wheels Stop all R-wheels 13 User Coded Control Mode User coded control mode Table 26: Set Attitude Estimation Mode Command Format ID 14 Parameters Length 1 (bytes) Description Parameters Set attitude estimation mode Offset Length (bits) (bits) 0 8 Name Data Description Type Attitude ENUM Attitude estimation mode. Possible Estimation values are in Mode EstimModeSelect Table 27: Enumeration Values Table 27: EstimModeSelect Enumeration Values Numeric Value Name Description 0 No attitude estimation No attitude estimation 1 MEMS rate sensing MEMS rate sensing 2 Magnetometer rate filter Magnetometer rate filter 3 Magnetometer rate filter with pitch Magnetometer estimation estimation Magnetometer and Fine-sun TRIAD Magnetometer algorithm algorithm 5 Full-state EKF Full-state EKF 6 MEMS gyro EKF MEMS gyro EKF 4 rate and filter with Fine-sun pitch TRIAD Table 28: Commanded Attitude Angles Command Format ID 15 Parameters Length (bytes) Description Commanded attitude angles Parameters Offset Length (bits) (bits) 0 16 Name Data 6 Description Type Commanded Roll Angle INT Commanded roll angle. Raw parameter value is obtained Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 36 using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units) 16 16 Commanded Pitch INT Angle Commanded pitch angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units) 32 16 Commanded Yaw INT Angle Commanded yaw angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units) Table 29: Set Magnetorquer Output Command Format ID 16 Parameters Length (bytes) Description Set magnetorquer output (only valid if Control Mode is None) Parameters Offset Length (bits) (bits) 0 16 Name 6 Data Description Type Commanded X INT Commanded X-torquer duty Magnetorquer duty cycle. Raw parameter value is cycle obtained using the formula: (raw parameter) = (formatted value)*1000.0 16 16 Commanded Y INT Commanded Y-torquer duty Magnetorquer duty cycle. Raw parameter value is cycle obtained using the formula: (raw parameter) = (formatted value)*1000.0 32 16 Commanded Z INT Commanded Z-torquer duty Magnetorquer duty cycle. Raw parameter value is cycle obtained using the formula: (raw parameter) value)*1000.0 Table 30: Set Wheel Speed Command Format ID 17 Parameters Length (bytes) 6 Description Set wheel speed (only valid if Control Mode is None) = (formatted Part: Doc: Ver: Page: Parameters Offset Length (bits) (bits) 0 16 Name CubeADCS Reference Manual 3.10 37 Data Type Commanded X INT speed 16 16 16 Commanded X-wheel speed. (Unit of measure is [rpm]) Commanded Y INT speed 32 Description Commanded Y-wheel speed. (Unit of measure is [rpm]) Commanded Z INT speed Commanded Z-wheel speed. (Unit of measure is [rpm]) Table 31: Trigger ADCS Loop Command Format ID 18 Parameters Length (bytes) 0 Description Trigger ADCS to perform one iteration of the control loop (only valid when ADCS Run Mode is Triggered) Table 32: Trigger ADCS Loop with Simulated Sensor Data Command Format ID 19 Parameters Length (bytes) 90 Description Trigger ADCS to perform one iteration of the control loop (only valid when ADCS Run Mode is Triggered) Parameters Offset Length (bits) (bits) 0 32 Name Data Description Type Unix Time UINT Unix time for iteration. (Unit of measure is [s]) 32 16 Css Raw 1 UINT CSS1 raw measurement 48 16 Css Raw 2 UINT CSS2 raw measurement 64 16 Css Raw 3 UINT CSS3 raw measurement 80 16 Css Raw 4 UINT CSS4 raw measurement 96 16 Css Raw 5 UINT CSS5 raw measurement 112 16 Css Raw 6 UINT CSS6 raw measurement 128 16 Css Raw 7 UINT CSS7 raw measurement 144 16 Css Raw 8 UINT CSS8 raw measurement 160 16 Css Raw 9 UINT CSS9 raw measurement 176 16 Css Raw 10 UINT CSS10 raw measurement 192 16 Cam1 Raw X INT Cam1 sensor raw X angle 208 16 Cam1 Raw Y INT Cam1 sensor raw Y angle 224 8 Cam1 Busy UINT Cam1 sensor capture status 232 8 Cam1 Result UINT Cam1 sensor detection result 240 16 Cam2 Raw X INT Cam2 sensor raw X angle 256 16 Cam2 Raw Y INT Cam2 sensor raw Y angle 272 8 Cam2 Busy UINT Cam2 sensor capture status Part: Doc: Ver: Page: 280 8 Cam2 Result UINT 288 16 Mag Raw X INT CubeADCS Reference Manual 3.10 38 Cam2 sensor detection result Raw magnetometer X measurement 304 16 Mag Raw Y INT Raw magnetometer Y measurement 320 16 Mag Raw Z INT Raw magnetometer Z measurement 336 16 Rate Raw X INT Raw X rate sensor measurement 352 16 Rate Raw Y INT Raw Y rate sensor measurement 368 16 Rate Raw Z INT Raw Z rate sensor measurement 384 16 Wheel Raw X INT Raw X wheel speed measurement. (Unit of measure is [rpm]) 400 16 Wheel Raw Y INT Raw Y wheel speed measurement. (Unit of measure is [rpm]) 416 16 Wheel Raw Z INT Raw Z wheel speed measurement. (Unit of measure is [rpm]) 432 16 Star1CameraX INT Star1 camera X-vector 448 16 Star1CameraY INT Star1 camera Y-vector 464 16 Star1CameraZ INT Star1 camera Z-vector 480 16 Star1InertialX INT Star1 inertial X-vector 496 16 Star1InertialY INT Star1 inertial Y-vector 512 16 Star1InertialZ INT Star1 inertial Z-vector 528 16 Star2CameraX INT Star2 camera X-vector 544 16 Star2CameraY INT Star2 camera Y-vector 560 16 Star2CameraZ INT Star2 camera Z-vector 576 16 Star2InertialX INT Star2 inertial X-vector 592 16 Star2InertialY INT Star2 inertial Y-vector 608 16 Star2InertialZ INT Star2 inertial Z-vector 624 16 Star3CameraX INT Star3 camera X-vector 640 16 Star3CameraY INT Star3 camera Y-vector 656 16 Star3CameraZ INT Star3 camera Z-vector 672 16 Star3InertialX INT Star3 inertial X-vector 688 16 Star3InertialY INT Star3 inertial Y-vector 704 16 Star3InertialZ INT Star3 inertial Z-vector Table 33: ADCS Configuration Command Format ID 20 Parameters Length (bytes) 272 Part: Doc: Ver: Page: Description Current configuration Parameters Offset Length (bits) (bits) 0 8 Name CubeADCS Reference Manual 3.10 39 Data Description Type Magnetorquer 1 ENUM Configuration Magnetorquer 1 Configuration. Possible values are in Table 34: AxisSelect Enumeration Values 8 8 Magnetorquer 2 ENUM Configuration Magnetorquer 2 Configuration. Possible values are in Table 34: AxisSelect Enumeration Values 16 8 Magnetorquer 3 ENUM Configuration Magnetorquer 3 Configuration. Possible values are in Table 34: AxisSelect Enumeration Values 24 8 RW1 Configuration ENUM RW1 Configuration. Possible values are in Table 34: AxisSelect Enumeration Values 32 8 RW2 Configuration ENUM RW2 Configuration. Possible values are in Table 34: AxisSelect Enumeration Values 40 8 RW3 Configuration ENUM RW3 Configuration. Possible values are in Table 34: AxisSelect Enumeration Values 48 8 RW4 Configuration ENUM RW4 Configuration. Possible values are in Table 34: AxisSelect Enumeration Values 56 8 Gyro1 ENUM Configuration Gyro1 Configuration. Possible values are in Table 34: AxisSelect Enumeration Values 64 8 Gyro2 ENUM Configuration Gyro2 Configuration. Possible values are in Table 34: AxisSelect Enumeration Values 72 8 Gyro3 ENUM Configuration Gyro3 Configuration. Possible values are in Table 34: AxisSelect Enumeration Values 80 8 CSS1 Configuration ENUM CSS1 Configuration. Possible values are in Table 34: AxisSelect Enumeration Values 88 8 CSS2 Configuration ENUM CSS2 Configuration. Possible values are in Table 34: AxisSelect Enumeration Values 96 8 CSS3 Configuration ENUM CSS3 Configuration. Possible values are in Table 34: AxisSelect Enumeration Values Part: Doc: Ver: Page: 104 8 CSS4 Configuration CubeADCS Reference Manual 3.10 40 ENUM CSS4 Configuration. Possible values are in Table 34: AxisSelect Enumeration Values 112 8 CSS5 Configuration ENUM CSS5 Configuration. Possible values are in Table 34: AxisSelect Enumeration Values 120 8 CSS6 Configuration ENUM CSS6 Configuration. Possible values are in Table 34: AxisSelect Enumeration Values 128 8 CSS7 Configuration ENUM CSS7 Configuration. Possible values are in Table 34: AxisSelect Enumeration Values 136 8 CSS8 Configuration ENUM CSS8 Configuration. Possible values are in Table 34: AxisSelect Enumeration Values 144 8 CSS9 Configuration ENUM CSS9 Configuration. Possible values are in Table 34: AxisSelect Enumeration Values 152 8 CSS10 ENUM Configuration CSS10 Configuration. Possible values are in Table 34: AxisSelect Enumeration Values 160 8 CSS1 Relative Scale UINT CSS1 Relative Scaling Factor. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 168 8 CSS2 Relative Scale UINT CSS2 Relative Scaling Factor. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 176 8 CSS3 Relative Scale UINT CSS3 Relative Scaling Factor. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 184 8 CSS4 Relative Scale UINT CSS4 Relative Scaling Factor. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 192 8 CSS5 Relative Scale UINT CSS5 Relative Scaling Factor. Raw parameter value is obtained Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 41 using the formula: (raw parameter) = (formatted value)*100.0 200 8 CSS6 Relative Scale UINT CSS6 Relative Scaling Factor. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 208 8 CSS7 Relative Scale UINT CSS7 Relative Scaling Factor. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 216 8 CSS8 Relative Scale UINT CSS8 Relative Scaling Factor. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 224 8 CSS9 Relative Scale UINT CSS9 Relative Scaling Factor. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 232 8 CSS10 Relative UINT Scale CSS10 Relative Scaling Factor. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 240 8 CSS Threshold UINT 248 16 Cam1 Sensor INT CSS Threshold Cam1 Sensor Mounting Mounting Transform Alpha Angle. Raw Transform Alpha parameter value is obtained Angle using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units) 264 16 Cam1 Sensor INT Cam1 Sensor Mounting Mounting Transform Beta Angle. Raw Transform Beta parameter value is obtained Angle using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units) Part: Doc: Ver: Page: 280 16 Cam1 Sensor CubeADCS Reference Manual 3.10 42 INT Cam1 Sensor Mounting Mounting Transform Gamma Angle. Raw Transform Gamma parameter value is obtained Angle using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units) 296 8 Cam1 detection UINT threshold 304 1 Cam1 sensor auto BOOL 0 = disabled and 1 = enabled UINT exposure time register value UINT X Pixel location of Cam1 adjust mode 312 16 Cam1 sensor exposure time 328 16 Cam1 Boresight X boresight. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [pixels] units) 344 16 Cam1 Boresight Y UINT Y Pixel location of Cam1 boresight. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [pixels] units) 360 1 Cam1 Shift BOOL Use Cam2 processing chain for Cam1 detection 368 16 Cam2 Sensor INT Cam2 Sensor Mounting Mounting Transform Alpha Angle. Raw Transform Alpha parameter value is obtained Angle using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units) 384 16 Cam2 Sensor INT Cam2 Sensor Mounting Mounting Transform Beta Angle. Raw Transform Beta parameter value is obtained Angle using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units) 400 16 Cam2 Sensor Mounting INT Cam2 Sensor Mounting Transform Gamma Angle. Raw Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 43 Transform Gamma parameter value is obtained Angle using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units) 416 8 Cam2 detection UINT Cam2 detection threshold BOOL 0 = disabled and 1 = enabled UINT exposure time register value UINT X Pixel location of Cam2 threshold 424 1 Cam2 sensor auto adjust mode 432 16 Cam2 sensor exposure time 448 16 Cam2 Boresight X boresight. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [pixels] units) 464 16 Cam2 Boresight Y UINT Y Pixel location of Cam2 boresight. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [pixels] units) 480 1 Cam2 Shift BOOL Use Sun processing chain for Cam2 detection 488 16 Minimum X of area UINT Minimum X of Area 1 UINT Maximum X of Area 1 UINT Minimum Y of Area 1 UINT Maximum Y of Area 1 UINT Minimum X of Area 2 UINT Maximum X of Area 2 UINT Minimum Y of Area 2 UINT Maximum Y of Area 2 1 504 16 Maximum X of area 1 520 16 Minimum Y of area 1 536 16 Maximum Y of area 1 552 16 Minimum X of area 2 568 16 Maximum X of area 2 584 16 Minimum Y of area 2 600 16 Maximum Y of area 2 Part: Doc: Ver: Page: 616 16 Minimum X of area CubeADCS Reference Manual 3.10 44 UINT Minimum X of Area 3 UINT Maximum X of Area 3 UINT Minimum Y of Area 3 UINT Maximum Y of Area 3 UINT Minimum X of Area 4 UINT Maximum X of Area 4 UINT Minimum Y of Area 4 UINT Maximum Y of Area 4 UINT Minimum X of Area 5 UINT Maximum X of Area 5 UINT Minimum Y of Area 5 UINT Maximum Y of Area 5 3 632 16 Maximum X of area 3 648 16 Minimum Y of area 3 664 16 Maximum Y of area 3 680 16 Minimum X of area 4 696 16 Maximum X of area 4 712 16 Minimum Y of area 4 728 16 Maximum Y of area 4 744 16 Minimum X of area 5 760 16 Maximum X of area 5 776 16 Minimum Y of area 5 792 16 Maximum Y of area 5 808 16 Magnetometer INT Magnetometer Mounting Mounting Transform Alpha Angle. Raw Transform Alpha parameter value is obtained Angle using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units) 824 16 Magnetometer INT Magnetometer Mounting Mounting Transform Beta Angle. Raw Transform Beta parameter value is obtained Angle using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units) 840 16 Magnetometer INT Magnetometer Mounting Mounting Transform Gamma Angle. Raw Transform Gamma parameter Angle using the value is obtained formula: (raw Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 45 parameter) = (formatted value)*100.0 (formatted value is in [deg] units) 856 16 Magnetometer INT Channel 1 Offset Magnetometer Channel 1 Offset. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*1000.0 872 16 Magnetometer INT Channel 2 Offset Magnetometer Channel 2 Offset. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*1000.0 888 16 Magnetometer INT Channel 3 Offset Magnetometer Channel 3 Offset. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*1000.0 904 16 Magnetometer INT Magnetometer Sensitivity Matrix Sensitivity Matrix S11. Raw parameter value is S11 obtained using the formula: (raw parameter) = (formatted value)*1000.0 920 16 Magnetometer INT Magnetometer Sensitivity Matrix Sensitivity Matrix S22. Raw parameter value is S22 obtained using the formula: (raw parameter) = (formatted value)*1000.0 936 16 Magnetometer Sensitivity INT Matrix Magnetometer Sensitivity Matrix S33. Raw parameter value is S33 obtained using the formula: (raw parameter) = (formatted value)*1000.0 952 16 Magnetometer INT Magnetometer Sensitivity Matrix Sensitivity Matrix S12. Raw parameter value is S12 obtained using the formula: (raw parameter) = (formatted value)*1000.0 968 16 Magnetometer INT Magnetometer Sensitivity Matrix Sensitivity Matrix S13. Raw parameter value is S13 obtained using the formula: (raw parameter) = (formatted value)*1000.0 Part: Doc: Ver: Page: 984 16 Magnetometer CubeADCS Reference Manual 3.10 46 INT Magnetometer Sensitivity Matrix Sensitivity Matrix S21. Raw parameter value is S21 obtained using the formula: (raw parameter) = (formatted value)*1000.0 1000 16 Magnetometer INT Magnetometer Sensitivity Matrix Sensitivity Matrix S23. Raw parameter value is S23 obtained using the formula: (raw parameter) = (formatted value)*1000.0 1016 16 Magnetometer INT Magnetometer Sensitivity Matrix Sensitivity Matrix S31. Raw parameter value is S31 obtained using the formula: (raw parameter) = (formatted value)*1000.0 1032 16 Magnetometer Sensitivity INT Matrix Magnetometer Sensitivity Matrix S32. Raw parameter value is S32 obtained using the formula: (raw parameter) = (formatted value)*1000.0 1048 16 X-Rate Sensor INT Offset X-Rate Sensor Offset. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*1000.0 (formatted value is in [deg/s] units) 1064 16 Y-Rate Sensor INT Offset Y-Rate Sensor Offset. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*1000.0 (formatted value is in [deg/s] units) 1080 16 Z-Rate Sensor INT Offset Z-Rate Sensor Offset. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*1000.0 (formatted value is in [deg/s] units) 1096 8 RateSensorMult UINT Multiplier of rate sensor measurement 1104 16 StarTracker Mounting INT StarTracker Mounting Transform Alpha Angle. Raw parameter value is obtained using the Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 47 Transform Alpha formula: (raw parameter) = Angle (formatted value)*100.0 (formatted value is in [deg] units) 1120 16 StarTracker INT StarTracker Mounting Transform Mounting Beta Angle. Raw parameter value Transform Beta is obtained using the formula: Angle (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units) 1136 16 StarTracker INT StarTracker Mounting Transform Mounting Gamma Angle. Raw parameter Transform Gamma value is obtained using the Angle formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units) 1152 16 StarTracker UINT exposure time register value UINT StarTracker detection threshold UINT StarTracker star threshold UINT Maximum of stars that the star exposure time 1168 8 StarTracker detection threshold 1176 8 StarTracker star threshold 1184 8 Maximum Star Matched tracker will match 1192 8 Maximum Star Pixel UINT Maximum pixels in a star 1200 8 Maximum Star UINT Maximum star pixel noise Noise 1208 8 Minimum Star Pixel UINT Minimum pixels in a star 1216 8 Star Tracker Error UINT % Error margin of the star Margin identification. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [%] units) 1224 32 Star Tracker FLOAT Pixel centroid X FLOAT Pixel centroid Y Centroid X 1256 32 Star Tracker Centroid Y 1288 16 Star Tracker Focal Length UINT Star Tracker Focal Length. Raw parameter value is obtained using the formula: (raw parameter) = (formatted Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 48 value)*10000.0 (formatted value is in [mm] units) 1304 8 Synch Delay UINT Synchronization delay within star Tracker 1312 32 Detumbling Spin FLOAT Detumbling Spin Gain (Ks) FLOAT Detumbling Damping Gain (Kd) Gain 1344 32 Detumbling Damping Gain 1376 16 Reference spin rate INT Reference spin rate (wy-ref). Must always be smaller than 0. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*1000.0 (formatted value is in [deg/s] units) 1392 32 Fast BDot FLOAT Fast BDot Detumbling Gain (Kdf) FLOAT Y-Momentum Control Gain (Kh) FLOAT Y-momentum Nutation Damping Detumbling Gain 1424 32 Y-Momentum Control Gain 1456 32 Y-momentum Nutation Damping Gain (Kn) Gain 1488 32 Y-momentum FLOAT Proportional Gain 1520 32 Y-momentum (Kp1) FLOAT Derivative Gain 1552 32 Reference Wheel Y-momentum Proportional Gain Y-momentum Derivative Gain (Kd1) FLOAT Momentum Reference Wheel Momentum (Href). Must always be smaller than 0. (Unit of measure is [Nms]) 1584 32 RWheel FLOAT RWheel Proportional Gain (Kp2) FLOAT RWheel Derivative Gain (Kd2) FLOAT Tracking Proportional Gain (Kp3) FLOAT Tracking Derivative Gain (Kd3) FLOAT Tracking Integral Gain (Ki3) FLOAT Moment Of Inertia - Ixx. (Unit of Proportional Gain 1616 32 RWheel Derivative Gain 1648 32 Tracking Proportional Gain 1680 32 Tracking Derivative Gain 1712 32 Tracking Integral Gain 1744 32 Moment Of Inertia - Ixx measure is [kg.m^2]) Part: Doc: Ver: Page: 1776 32 Moment Of Inertia CubeADCS Reference Manual 3.10 49 FLOAT - Iyy 1808 32 measure is [kg.m^2]) Moment Of Inertia - FLOAT Izz 1840 32 32 Moment Of Inertia FLOAT 32 Moment Of Inertia FLOAT 32 Moment Of Inertia - Ixz. (Unit of measure is [kg.m^2]) Moment Of Inertia - FLOAT Iyz 1936 Moment Of Inertia - Ixy. (Unit of measure is [kg.m^2]) - Ixz 1904 Moment Of Inertia - Izz. (Unit of measure is [kg.m^2]) - Ixy 1872 Moment Of Inertia - Iyy. (Unit of Moment Of Inertia - Iyz. (Unit of measure is [kg.m^2]) Magnetometer FLOAT Rate Filter System Magnetometer Rate Filter System Noise Noise 1968 32 EKF System Noise FLOAT EKF System Noise 2000 32 CSS Measurement FLOAT CSS Measurement Noise FLOAT Sun Sensor Measurement Noise FLOAT Nadir Sensor Measurement Noise 2032 32 Sun Sensor Measurement Noise 2064 32 Nadir Sensor Measurement Noise Noise 2096 32 Magnetometer FLOAT Measurement Magnetometer Measurement Noise Noise 2128 32 Star Tracker FLOAT Star Tracker Measurement Noise BOOL Use Sun Sensor measurement in Measurement Noise 2160 1 Use Sun Sensor EKF 2161 1 Use Nadir Sensor BOOL Use Nadir Sensor measurement in EKF 2162 1 Use CSS BOOL Use CSS measurement in EKF 2163 1 Use Star Tracker BOOL Use Star Tracker measurement in EKF 2164 2 Magnetometer Mode ENUM Mode describing which magnetometer is used for estimation and control. Possible values are in Table 35: MagModeVal Enumeration Values Part: Doc: Ver: Page: 2168 8 Cam1 and Cam2 CubeADCS Reference Manual 3.10 50 UINT Cam1 and Cam2 sensor sampling Sampling Period period. Lower four bits are Cam1 period and upper four bits the Cam2 period. Setting period to zero for sensor will disable sampling of sensor.. (Unit of measure is [s]) Table 34: AxisSelect Enumeration Values Numeric Value Name Description 0 Positive X Positive X 1 Negative X Negative X 2 Positive Y Positive Y 3 Negative Y Negative Y 4 Positive Z Positive Z 5 Negative Z Negative Z 6 Not Used Not Used Table 35: MagModeVal Enumeration Values Numeric Value 0 Name Description MainMagOnly Only main magnetometer is sampled and used 1 RedMagOnly Only redundant magnetometer is sampled and used 2 BothMagMainUsed Both magnetometers are sampled but main is used 3 BothMagRedUsed Both magnetometers are sampled but redundant is used Table 36: Parts of ADCS Configuration command (ID 20), sent using shorter telecommands ID 21 Partial Commands Set Magnetorquer Length Bit Bit Overlapping ADCS Configuration (bytes) offset length Telecommand Parameters 3 0 8 Magnetorquer 1 Configuration 8 8 Magnetorquer 2 Configuration Configuration - Table 37: Set Magnetorquer Configuration Command Format Part: Doc: Ver: Page: 22 Set Wheel 4 CubeADCS Reference Manual 3.10 51 16 8 Magnetorquer 3 Configuration 24 8 RW1 Configuration 32 8 RW2 Configuration 40 8 RW3 Configuration 48 8 RW4 Configuration 56 8 Gyro1 Configuration 64 8 Gyro2 Configuration 72 8 Gyro3 Configuration 80 8 CSS1 Configuration 88 8 CSS2 Configuration 96 8 CSS3 Configuration 104 8 CSS4 Configuration 112 8 CSS5 Configuration 120 8 CSS6 Configuration 128 8 CSS7 Configuration 136 8 CSS8 Configuration 144 8 CSS9 Configuration 152 8 CSS10 Configuration 160 8 CSS1 Relative Scale 168 8 CSS2 Relative Scale 176 8 CSS3 Relative Scale 184 8 CSS4 Relative Scale 192 8 CSS5 Relative Scale 200 8 CSS6 Relative Scale 208 8 CSS7 Relative Scale 216 8 CSS8 Relative Scale Configuration - Table 38: Set Wheel Configuration Command Format 23 Set Rate Gyro 3 Configuration - Table 39: Set Rate Gyro Configuration Command Format 24 Set CSS Alignment 10 Configuration - Table 40: Set CSS Alignment Configuration Command Format 25 Set CSS Scale Factor 11 Configuration - Table 41: Set CSS Scale Factor Configuration Command Format Part: Doc: Ver: Page: 26 Set Cam1 Sensor 15 CubeADCS Reference Manual 3.10 52 224 8 CSS9 Relative Scale 232 8 CSS10 Relative Scale 240 8 CSS Threshold 248 16 Cam1 Sensor Mounting Transform Configuration - Table Alpha Angle 42: Set Cam1 Sensor Configuration Command Format 264 16 Cam1 Sensor Mounting Transform Beta Angle 280 16 Cam1 Sensor Mounting Transform Gamma Angle 27 Set Cam2 Sensor 15 296 8 Cam1 detection threshold 304 1 Cam1 sensor auto adjust mode 312 16 Cam1 sensor exposure time 328 16 Cam1 Boresight X 344 16 Cam1 Boresight Y 360 1 Cam1 Shift 368 16 Cam2 Sensor Mounting Transform Configuration - Table Alpha Angle 43: Set Cam2 Sensor Configuration Command Format 384 16 Cam2 Sensor Mounting Transform Beta Angle 400 16 Cam2 Sensor Mounting Transform Gamma Angle 28 Set Nadir Sensor 8 416 8 Cam2 detection threshold 424 1 Cam2 sensor auto adjust mode 432 16 Cam2 sensor exposure time 448 16 Cam2 Boresight X 464 16 Cam2 Boresight Y 480 1 Cam2 Shift 488 16 Minimum X of area 1 504 16 Maximum X of area 1 520 16 Minimum Y of area 1 536 16 Maximum Y of area 1 Mask Configuration 1 - Table 44: Set Nadir Sensor Mask Configuration 1 Command Format Part: Doc: Ver: Page: 29 Set Nadir Sensor 8 CubeADCS Reference Manual 3.10 53 552 16 Minimum X of area 2 568 16 Maximum X of area 2 584 16 Minimum Y of area 2 600 16 Maximum Y of area 2 616 16 Minimum X of area 3 632 16 Maximum X of area 3 648 16 Minimum Y of area 3 664 16 Maximum Y of area 3 680 16 Minimum X of area 4 696 16 Maximum X of area 4 712 16 Minimum Y of area 4 728 16 Maximum Y of area 4 744 16 Minimum X of area 5 760 16 Maximum X of area 5 776 16 Minimum Y of area 5 792 16 Maximum Y of area 5 808 16 Magnetometer Mounting Transform Mask Configuration 2 - Table 45: Set Nadir Sensor Mask Configuration 2 Command Format 30 Set Nadir Sensor 8 Mask Configuration 3 - Table 46: Set Nadir Sensor Mask Configuration 3 Command Format 31 Set Nadir Sensor 8 Mask Configuration 4 - Table 47: Set Nadir Sensor Mask Configuration 4 Command Format 32 Set Nadir Sensor 8 Mask Configuration 5 - Table 48: Set Nadir Sensor Mask Configuration 5 Command Format 33 Set Magnetometer Mounting Configuration - Table 49: Set Magnetometer Mounting 6 Alpha Angle Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 54 Configuration Command Format 824 16 Magnetometer Mounting Transform Beta Angle 840 16 Magnetometer Mounting Transform Gamma Angle 34 Set Magnetometer 12 856 16 Magnetometer Channel 1 Offset 872 16 Magnetometer Channel 2 Offset 888 16 Magnetometer Channel 3 Offset 904 16 Magnetometer Sensitivity Matrix Offset and Scaling Configuration - Table 50: Set Magnetometer Offset and Scaling Configuration Command Format S11 920 16 Magnetometer Sensitivity Matrix S22 936 16 952 16 Magnetometer Sensitivity Matrix S33 35 Set Magnetometer 12 Sensitivity Magnetometer Sensitivity Matrix S12 Configuration - Table 51: Set Magnetometer Sensitivity Configuration Command Format 968 16 Magnetometer Sensitivity Matrix S13 984 16 Magnetometer Sensitivity Matrix S21 1000 16 Magnetometer Sensitivity Matrix S23 1016 16 Magnetometer Sensitivity Matrix S31 1032 16 Magnetometer Sensitivity Matrix S32 36 Set Rate Sensor Configuration - Table 52: Set Rate Sensor 7 1048 16 X-Rate Sensor Offset Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 55 Configuration Command Format 37 Set Star Tracker 26 1064 16 Y-Rate Sensor Offset 1080 16 Z-Rate Sensor Offset 1096 8 RateSensorMult 1104 16 StarTracker Mounting Transform Configuration - Table Alpha Angle 53: Set Star Tracker Configuration Command Format 1120 16 StarTracker Mounting Transform Beta Angle 1136 16 StarTracker Mounting Transform Gamma Angle 38 Set Detumbling 14 1152 16 StarTracker exposure time 1168 8 StarTracker detection threshold 1176 8 StarTracker star threshold 1184 8 Maximum Star Matched 1192 8 Maximum Star Pixel 1200 8 Maximum Star Noise 1208 8 Minimum Star Pixel 1216 8 Star Tracker Error Margin 1224 32 Star Tracker Centroid X 1256 32 Star Tracker Centroid Y 1288 16 Star Tracker Focal Length 1304 8 Synch Delay 1312 32 Detumbling Spin Gain 1344 32 Detumbling Damping Gain 1376 16 Reference spin rate 1392 32 Fast BDot Detumbling Gain 1424 32 Y-Momentum Control Gain 1456 32 Y-momentum Nutation Damping Control Parameters Table 54: Set Detumbling Control Parameters Command Format 39 Set Y-Wheel Control 20 Parameters - Table 55: Set Y-Wheel Control Parameters Command Format Gain Part: Doc: Ver: Page: 40 Set Reaction Wheel 8 CubeADCS Reference Manual 3.10 56 1488 32 Y-momentum Proportional Gain 1520 32 Y-momentum Derivative Gain 1552 32 Reference Wheel Momentum 1584 32 RWheel Proportional Gain 1616 32 RWheel Derivative Gain 1648 32 Tracking Proportional Gain 1680 32 Tracking Derivative Gain 1712 32 Tracking Integral Gain 1744 32 Moment Of Inertia - Ixx 1776 32 Moment Of Inertia - Iyy 1808 32 Moment Of Inertia - Izz 1840 32 Moment Of Inertia - Ixy 1872 32 Moment Of Inertia - Ixz 1904 32 Moment Of Inertia - Iyz 1936 32 Magnetometer Rate Filter System Control Parameters Table 56: Set Reaction Wheel Control Parameters Command Format 54 Set Tracking 12 Controller Gain Parameters - Table 71: Set Tracking Controller Gain Parameters Command Format 41 Set Moments of 12 Inertia - Table 57: Set Moments of Inertia Command Format 42 Set Products of Inertia 12 - Table 58: Set Products of Inertia Command Format 43 Set Estimation 16 Parameters 1 - Table Noise 59: Set Estimation Parameters 1 Command Format 44 Set Estimation Parameters 2 - Table 60: Set Estimation 14 1968 32 EKF System Noise 2000 32 CSS Measurement Noise 2032 32 Sun Sensor Measurement Noise 2064 32 Nadir Sensor Measurement Noise Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 57 Parameters 2 Command Format 2096 32 Magnetometer Measurement Noise 2128 32 Star Tracker Measurement Noise 2160 1 Use Sun Sensor 2161 1 Use Nadir Sensor 2162 1 Use CSS 2163 1 Use Star Tracker 2164 2 Magnetometer Mode 2168 8 Cam1 and Cam2 Sampling Period Table 37: Set Magnetorquer Configuration Command Format ID 21 Parameters Length (bytes) Description Set magnetorquer configuration parameters Parameters Offset Length (bits) (bits) 0 8 Name 3 Data Description Type Magnetorquer 1 ENUM Configuration Magnetorquer 1 Configuration. Possible values are in Table 34: AxisSelect Enumeration Values 8 8 Magnetorquer 2 ENUM Configuration Magnetorquer 2 Configuration. Possible values are in Table 34: AxisSelect Enumeration Values 16 8 Magnetorquer 3 ENUM Configuration Magnetorquer 3 Configuration. Possible values are in Table 34: AxisSelect Enumeration Values Table 38: Set Wheel Configuration Command Format ID 22 Parameters Length (bytes) Description Set wheel configuration parameters Parameters Offset Length (bits) (bits) 0 8 Name Data 4 Description Type RW1 Configuration ENUM RW1 Configuration. Possible values are in Table 34: AxisSelect Enumeration Values 8 8 RW2 Configuration ENUM RW2 Configuration. Possible values are in Table 34: AxisSelect Enumeration Values Part: Doc: Ver: Page: 16 8 RW3 Configuration CubeADCS Reference Manual 3.10 58 ENUM RW3 Configuration. Possible values are in Table 34: AxisSelect Enumeration Values 24 8 RW4 Configuration ENUM RW4 Configuration. Possible values are in Table 34: AxisSelect Enumeration Values Table 39: Set Rate Gyro Configuration Command Format ID 23 Parameters Length (bytes) Description Set rate gyro configuration parameters Parameters Offset Length (bits) (bits) 0 8 Name 3 Data Description Type Gyro1 ENUM Configuration Gyro1 Configuration. Possible values are in Table 34: AxisSelect Enumeration Values 8 8 Gyro2 ENUM Configuration Gyro2 Configuration. Possible values are in Table 34: AxisSelect Enumeration Values 16 8 Gyro3 ENUM Configuration Gyro3 Configuration. Possible values are in Table 34: AxisSelect Enumeration Values Table 40: Set CSS Alignment Configuration Command Format ID 24 Parameters Length (bytes) Description Set photodiode pointing directions Parameters Offset Length (bits) (bits) 0 8 Name Data 10 Description Type CSS1 Configuration ENUM CSS1 Configuration. Possible values are in Table 34: AxisSelect Enumeration Values 8 8 CSS2 Configuration ENUM CSS2 Configuration. Possible values are in Table 34: AxisSelect Enumeration Values 16 8 CSS3 Configuration ENUM CSS3 Configuration. Possible values are in Table 34: AxisSelect Enumeration Values 24 8 CSS4 Configuration ENUM CSS4 Configuration. Possible values are in Table 34: AxisSelect Enumeration Values Part: Doc: Ver: Page: 32 8 CSS5 Configuration CubeADCS Reference Manual 3.10 59 ENUM CSS5 Configuration. Possible values are in Table 34: AxisSelect Enumeration Values 40 8 CSS6 Configuration ENUM CSS6 Configuration. Possible values are in Table 34: AxisSelect Enumeration Values 48 8 CSS7 Configuration ENUM CSS7 Configuration. Possible values are in Table 34: AxisSelect Enumeration Values 56 8 CSS8 Configuration ENUM CSS8 Configuration. Possible values are in Table 34: AxisSelect Enumeration Values 64 8 CSS9 Configuration ENUM CSS9 Configuration. Possible values are in Table 34: AxisSelect Enumeration Values 72 8 CSS10 ENUM Configuration CSS10 Configuration. Possible values are in Table 34: AxisSelect Enumeration Values Table 41: Set CSS Scale Factor Configuration Command Format ID 25 Description Set photodiode scale factors Parameters Length (bytes) Parameters Offset Length (bits) (bits) 0 8 Name Data 11 Description Type CSS1 Relative Scale UINT CSS1 Relative Scaling Factor. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 8 8 CSS2 Relative Scale UINT CSS2 Relative Scaling Factor. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 16 8 CSS3 Relative Scale UINT CSS3 Relative Scaling Factor. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 24 8 CSS4 Relative Scale UINT CSS4 Relative Scaling Factor. Raw parameter value is obtained Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 60 using the formula: (raw parameter) = (formatted value)*100.0 32 8 CSS5 Relative Scale UINT CSS5 Relative Scaling Factor. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 40 8 CSS6 Relative Scale UINT CSS6 Relative Scaling Factor. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 48 8 CSS7 Relative Scale UINT CSS7 Relative Scaling Factor. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 56 8 CSS8 Relative Scale UINT CSS8 Relative Scaling Factor. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 64 8 CSS9 Relative Scale UINT CSS9 Relative Scaling Factor. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 72 8 CSS10 Relative UINT Scale CSS10 Relative Scaling Factor. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 80 8 CSS Threshold UINT CSS Threshold Table 42: Set Cam1 Sensor Configuration Command Format ID 26 Parameters Length (bytes) Description Set Cam1 sensor configuration parameters Parameters Offset Length (bits) (bits) Name Data Type 15 Description Part: Doc: Ver: Page: 0 16 Cam1 Sensor CubeADCS Reference Manual 3.10 61 INT Cam1 Sensor Mounting Mounting Transform Alpha Angle. Raw Transform Alpha parameter value is obtained Angle using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units) 16 16 Cam1 Sensor INT Cam1 Sensor Mounting Mounting Transform Beta Angle. Raw Transform Beta parameter value is obtained Angle using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units) 32 16 Cam1 Sensor INT Cam1 Sensor Mounting Mounting Transform Gamma Angle. Raw Transform Gamma parameter value is obtained Angle using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units) 48 8 Cam1 detection UINT threshold 56 1 Cam1 sensor auto BOOL 0 = disabled and 1 = enabled UINT exposure time register value UINT X Pixel location of Cam1 adjust mode 64 16 Cam1 sensor exposure time 80 16 Cam1 Boresight X boresight. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [pixels] units) 96 16 Cam1 Boresight Y UINT Y Pixel location of Cam1 boresight. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [pixels] units) 112 1 Cam1 Shift BOOL Use Cam2 processing chain for Cam1 detection Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 62 Table 43: Set Cam2 Sensor Configuration Command Format ID 27 Parameters Length (bytes) Description Set Cam2 sensor configuration parameters Parameters Offset Length (bits) (bits) 0 16 Name Data 15 Description Type Cam2 Sensor INT Cam2 Sensor Mounting Mounting Transform Alpha Angle. Raw Transform Alpha parameter value is obtained Angle using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units) 16 16 Cam2 Sensor INT Cam2 Sensor Mounting Mounting Transform Beta Angle. Raw Transform Beta parameter value is obtained Angle using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units) 32 16 Cam2 Sensor INT Cam2 Sensor Mounting Mounting Transform Gamma Angle. Raw Transform Gamma parameter value is obtained Angle using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units) 48 8 Cam2 detection UINT Cam2 detection threshold BOOL 0 = disabled and 1 = enabled UINT exposure time register value UINT X Pixel location of Cam2 threshold 56 1 Cam2 sensor auto adjust mode 64 16 Cam2 sensor exposure time 80 16 Cam2 Boresight X boresight. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [pixels] units) 96 16 Cam2 Boresight Y UINT Y Pixel location of Cam2 boresight. Raw parameter value is obtained using the formula: (raw parameter) = (formatted Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 63 value)*100.0 (formatted value is in [pixels] units) 112 1 Cam2 Shift BOOL Use Sun processing chain for Cam2 detection Table 44: Set Nadir Sensor Mask Configuration 1 Command Format ID 28 Parameters Length (bytes) Description Set Nadir Sensor Mask Configuration 1 Parameters Offset Length (bits) (bits) 0 16 Name 8 Data Description Type Minimum X of area UINT Minimum X of Area 1 UINT Maximum X of Area 1 UINT Minimum Y of Area 1 UINT Maximum Y of Area 1 1 16 16 Maximum X of area 1 32 16 Minimum Y of area 1 48 16 Maximum Y of area 1 Table 45: Set Nadir Sensor Mask Configuration 2 Command Format ID 29 Parameters Length (bytes) Description Set Nadir Sensor Mask Configuration 2 Parameters Offset Length (bits) (bits) 0 16 Name 8 Data Description Type Minimum X of area UINT Minimum X of Area 2 UINT Maximum X of Area 2 UINT Minimum Y of Area 2 UINT Maximum Y of Area 2 2 16 16 Maximum X of area 2 32 16 Minimum Y of area 2 48 16 Maximum Y of area 2 Table 46: Set Nadir Sensor Mask Configuration 3 Command Format ID 30 Parameters Length (bytes) Description Set Nadir Sensor Mask Configuration 3 Parameters Offset Length (bits) (bits) Name Data Type 8 Description Part: Doc: Ver: Page: 0 16 Minimum X of area CubeADCS Reference Manual 3.10 64 UINT Minimum X of Area 3 UINT Maximum X of Area 3 UINT Minimum Y of Area 3 UINT Maximum Y of Area 3 3 16 16 Maximum X of area 3 32 16 Minimum Y of area 3 48 16 Maximum Y of area 3 Table 47: Set Nadir Sensor Mask Configuration 4 Command Format ID 31 Parameters Length (bytes) Description Set Nadir Sensor Mask Configuration 4 Parameters Offset Length (bits) (bits) 0 16 Name 8 Data Description Type Minimum X of area UINT Minimum X of Area 4 UINT Maximum X of Area 4 UINT Minimum Y of Area 4 UINT Maximum Y of Area 4 4 16 16 Maximum X of area 4 32 16 Minimum Y of area 4 48 16 Maximum Y of area 4 Table 48: Set Nadir Sensor Mask Configuration 5 Command Format ID 32 Parameters Length (bytes) Description Set Nadir Sensor Mask Configuration 5 Parameters Offset Length (bits) (bits) 0 16 Name Data 8 Description Type Minimum X of area UINT Minimum X of Area 5 UINT Maximum X of Area 5 UINT Minimum Y of Area 5 UINT Maximum Y of Area 5 5 16 16 Maximum X of area 5 32 16 Minimum Y of area 5 48 16 Maximum Y of area 5 Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 65 Table 49: Set Magnetometer Mounting Configuration Command Format ID 33 Parameters Length (bytes) Description Set magnetometer mounting configuration parameters Parameters Offset Length (bits) (bits) 0 16 Name 6 Data Description Type Magnetometer INT Magnetometer Mounting Mounting Transform Alpha Angle. Raw Transform Alpha parameter value is obtained Angle using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units) 16 16 Magnetometer INT Magnetometer Mounting Mounting Transform Beta Angle. Raw Transform Beta parameter value is obtained Angle using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units) 32 16 Magnetometer INT Magnetometer Mounting Mounting Transform Gamma Angle. Raw Transform Gamma parameter value is obtained using Angle the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units) Table 50: Set Magnetometer Offset and Scaling Configuration Command Format ID 34 Description Set Magnetometer Offset and Scaling Configuration Parameters Length (bytes) Parameters Offset Length (bits) (bits) 0 16 Name Data 12 Description Type Magnetometer INT Channel 1 Offset Magnetometer Channel 1 Offset. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*1000.0 16 16 Magnetometer Channel 2 Offset INT Magnetometer Channel 2 Offset. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*1000.0 Part: Doc: Ver: Page: 32 16 Magnetometer CubeADCS Reference Manual 3.10 66 INT Channel 3 Offset Magnetometer Channel 3 Offset. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*1000.0 48 16 Magnetometer INT Magnetometer Sensitivity Matrix Sensitivity Matrix S11. Raw parameter value is S11 obtained using the formula: (raw parameter) = (formatted value)*1000.0 64 16 Magnetometer INT Magnetometer Sensitivity Matrix Sensitivity Matrix S22. Raw parameter value is S22 obtained using the formula: (raw parameter) = (formatted value)*1000.0 80 16 Magnetometer Sensitivity INT Matrix Magnetometer Sensitivity Matrix S33. Raw parameter value is S33 obtained using the formula: (raw parameter) = (formatted value)*1000.0 Table 51: Set Magnetometer Sensitivity Configuration Command Format ID 35 Parameters Length (bytes) Description Set Magnetometer Sensitivity Configuration Parameters Offset Length (bits) (bits) 0 16 Name Data 12 Description Type Magnetometer INT Magnetometer Sensitivity Matrix Sensitivity Matrix S12. Raw parameter value is S12 obtained using the formula: (raw parameter) = (formatted value)*1000.0 16 16 Magnetometer INT Magnetometer Sensitivity Matrix Sensitivity Matrix S13. Raw parameter value is S13 obtained using the formula: (raw parameter) = (formatted value)*1000.0 32 16 Magnetometer INT Magnetometer Sensitivity Matrix Sensitivity Matrix S21. Raw parameter value is S21 obtained using the formula: (raw parameter) = (formatted value)*1000.0 Part: Doc: Ver: Page: 48 16 Magnetometer CubeADCS Reference Manual 3.10 67 INT Magnetometer Sensitivity Matrix Sensitivity Matrix S23. Raw parameter value is S23 obtained using the formula: (raw parameter) = (formatted value)*1000.0 64 16 Magnetometer INT Magnetometer Sensitivity Matrix Sensitivity Matrix S31. Raw parameter value is S31 obtained using the formula: (raw parameter) = (formatted value)*1000.0 80 16 Magnetometer Sensitivity INT Matrix Magnetometer Sensitivity Matrix S32. Raw parameter value is S32 obtained using the formula: (raw parameter) = (formatted value)*1000.0 Table 52: Set Rate Sensor Configuration Command Format ID 36 Parameters Length (bytes) Description Set Rate Sensor Offsets Parameters Offset Length (bits) (bits) 0 16 Name 7 Data Description Type X-Rate Sensor INT Offset X-Rate Sensor Offset. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*1000.0 (formatted value is in [deg/s] units) 16 16 Y-Rate Sensor INT Offset Y-Rate Sensor Offset. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*1000.0 (formatted value is in [deg/s] units) 32 16 Z-Rate Sensor INT Offset Z-Rate Sensor Offset. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*1000.0 (formatted value is in [deg/s] units) 48 8 RateSensorMult UINT Multiplier of measurement rate sensor Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 68 Table 53: Set Star Tracker Configuration Command Format ID 37 Parameters Length (bytes) Description Set configurations of CubeStar Parameters Offset Length (bits) (bits) 0 16 Name Data 26 Description Type StarTracker INT StarTracker Mounting Transform Mounting Alpha Angle. Raw parameter Transform Alpha value is obtained using the Angle formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units) 16 16 StarTracker INT StarTracker Mounting Transform Mounting Beta Angle. Raw parameter value Transform Beta is obtained using the formula: Angle (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units) 32 16 StarTracker INT StarTracker Mounting Transform Mounting Gamma Angle. Raw parameter Transform Gamma value is obtained using the Angle formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units) 48 16 StarTracker UINT exposure time register value UINT StarTracker detection threshold UINT StarTracker star threshold UINT Maximum of stars that the star exposure time 64 8 StarTracker detection threshold 72 8 StarTracker star threshold 80 8 Maximum Star Matched tracker will match 88 8 Maximum Star Pixel UINT Maximum pixels in a star 96 8 Maximum Star UINT Maximum star pixel noise Noise 104 8 Minimum Star Pixel UINT Minimum pixels in a star 112 8 Star Tracker Error UINT % Error margin of the star Margin identification. Raw parameter value is obtained using the formula: (raw parameter) = Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 69 (formatted value)*100.0 (formatted value is in [%] units) 120 32 Star Tracker FLOAT Pixel centroid X FLOAT Pixel centroid Y Centroid X 152 32 Star Tracker Centroid Y 184 16 Star Tracker Focal UINT Length Star Tracker Focal Length. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0 (formatted value is in [mm] units) 200 8 Synch Delay UINT Synchronization delay within star Tracker Table 54: Set Detumbling Control Parameters Command Format ID 38 Parameters Length (bytes) Description Set controller gains and reference values for Detumbling control mode Parameters Offset Length (bits) (bits) 0 32 Name 14 Data Description Type Detumbling Spin FLOAT Detumbling Spin Gain (Ks) FLOAT Detumbling Damping Gain (Kd) Gain 32 32 Detumbling Damping Gain 64 16 Reference spin rate INT Reference spin rate (wy-ref). Must always be smaller than 0. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*1000.0 (formatted value is in [deg/s] units) 80 32 Fast BDot FLOAT Fast BDot Detumbling Gain (Kdf) Detumbling Gain Table 55: Set Y-Wheel Control Parameters Command Format ID 39 Parameters Length (bytes) Description Set controller gains and reference value for Y-wheel control mode Parameters Offset Length (bits) (bits) Name Data Type 20 Description Part: Doc: Ver: Page: 0 32 Y-Momentum CubeADCS Reference Manual 3.10 70 FLOAT Y-Momentum Control Gain (Kh) FLOAT Y-momentum Nutation Damping Control Gain 32 32 Y-momentum Nutation Damping Gain (Kn) Gain 64 32 Y-momentum FLOAT Proportional Gain 96 32 Y-momentum (Kp1) FLOAT Derivative Gain 128 32 Reference Wheel Y-momentum Proportional Gain Y-momentum Derivative Gain (Kd1) FLOAT Momentum Reference Wheel Momentum (Href). Must always be smaller than 0. (Unit of measure is [Nms]) Table 56: Set Reaction Wheel Control Parameters Command Format ID 40 Parameters Length (bytes) Description Set controller gains and reference value for reaction wheel control mode Parameters Offset Length (bits) (bits) 0 32 Name 8 Data Description Type RWheel FLOAT RWheel Proportional Gain (Kp2) FLOAT RWheel Derivative Gain (Kd2) Proportional Gain 32 32 RWheel Derivative Gain Table 57: Set Moments of Inertia Command Format ID 41 Parameters Length (bytes) Description Set satellite moments of inertia Parameters Offset Length (bits) (bits) 0 32 Name Data 32 Moment Of Inertia FLOAT Moment Of Inertia 32 Moment Of Inertia - Moment Of Inertia - Ixx. (Unit of measure is [kg.m^2]) FLOAT - Iyy 64 Description Type - Ixx 32 12 Moment Of Inertia - Iyy. (Unit of measure is [kg.m^2]) FLOAT Izz Moment Of Inertia - Izz. (Unit of measure is [kg.m^2]) Table 58: Set Products of Inertia Command Format ID 42 Parameters Length (bytes) Description Set satellite products of inertia 12 Part: Doc: Ver: Page: Parameters Offset Length (bits) (bits) 0 32 Name CubeADCS Reference Manual 3.10 71 Data Type Moment Of Inertia FLOAT - Ixy 32 32 32 Moment Of Inertia - Ixy. (Unit of measure is [kg.m^2]) Moment Of Inertia FLOAT - Ixz 64 Description Moment Of Inertia - Ixz. (Unit of measure is [kg.m^2]) Moment Of Inertia - FLOAT Iyz Moment Of Inertia - Iyz. (Unit of measure is [kg.m^2]) Table 59: Set Estimation Parameters 1 Command Format ID 43 Parameters Length (bytes) Description Set estimation noise covariance and sensor mask 1 Parameters Offset Length (bits) (bits) 0 32 Name 16 Data Description Type Magnetometer FLOAT Rate Filter System Magnetometer Rate Filter System Noise Noise 32 32 EKF System Noise FLOAT EKF System Noise 64 32 CSS Measurement FLOAT CSS Measurement Noise FLOAT Sun Sensor Measurement Noise Noise 96 32 Sun Sensor Measurement Noise Table 60: Set Estimation Parameters 2 Command Format ID 44 Parameters Length (bytes) Description Set estimation noise covariance and sensor mask 2 Parameters Offset Length (bits) (bits) 0 32 Name 14 Data Description Type Nadir Sensor FLOAT Measurement Nadir Sensor Measurement Noise Noise 32 32 Magnetometer FLOAT Measurement Magnetometer Measurement Noise Noise 64 32 Star Tracker FLOAT Star Tracker Measurement Noise BOOL Use Sun Sensor measurement in Measurement Noise 96 1 Use Sun Sensor EKF Part: Doc: Ver: Page: 97 1 Use Nadir Sensor CubeADCS Reference Manual 3.10 72 BOOL Use Nadir Sensor measurement in EKF 98 1 Use CSS BOOL Use CSS measurement in EKF 99 1 Use Star Tracker BOOL Use Star Tracker measurement in EKF 100 2 Magnetometer ENUM Mode Mode describing which magnetometer is used for estimation and control. Possible values are in Table 35: MagModeVal Enumeration Values 104 8 Cam1 and Cam2 UINT Sampling Period Cam1 and Cam2 sensor sampling period. Lower four bits are Cam1 period and upper four bits the Cam2 period. Setting period to zero for sensor will disable sampling of sensor.. (Unit of measure is [s]) Table 61: SGP4 Orbit Parameters Command Format ID 45 Description SGP4 Orbit Parameters Parameters Parameters Length (bytes) Offset Length (bits) (bits) 0 64 Name 64 Data Description Type Inclination DOUBLE Inclination. (Unit of measure is [deg]) 64 64 Eccentricity DOUBLE Eccentricity 128 64 Right-ascension of DOUBLE Right-ascension the Ascending 64 Argument the Ascending Node. (Unit of Node 192 of measure is [deg]) of DOUBLE Perigee Argument of Perigee. (Unit of measure is [deg]) 256 64 B-Star drag term DOUBLE B-Star drag term 320 64 Mean Motion DOUBLE Mean Motion. (Unit of measure is [orbits/day]) 384 64 Mean Anomaly DOUBLE Mean Anomaly. (Unit of measure is [deg]) 448 64 Epoch DOUBLE Epoch (year.day). (Unit of measure is [year.day]) Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 73 Table 62: Parts of SGP4 Orbit Parameters command (ID 45), sent using shorter telecommands ID 46 Partial Commands Set SGP4 Orbit Length Bit Bit Overlapping ADCS Configuration (bytes) offset length Telecommand Parameters 8 0 64 Inclination 8 64 64 Eccentricity 8 128 64 Right-ascension of the Ascending Inclination - Table 63: Set SGP4 Orbit Inclination Command Format 47 Set SGP4 Orbit Eccentricity - Table 64: Set SGP4 Orbit Eccentricity Command Format 48 Set SGP4 Orbit RAAN - Table 65: Set SGP4 Node Orbit RAAN Command Format 49 Set SGP4 Orbit 8 192 64 Argument of Perigee 8 256 64 B-Star drag term 8 320 64 Mean Motion 8 384 64 Mean Anomaly 8 448 64 Epoch Argument of Perigee Table 66: Set SGP4 Orbit Argument of Perigee Command Format 50 Set SGP4 Orbit B-Star Drag term - Table 67: Set SGP4 Orbit B-Star Drag term Command Format 51 Set SGP4 Orbit Mean Motion - Table 68: Set SGP4 Orbit Mean Motion Command Format 52 Set SGP4 Orbit Mean Anomaly - Table 69: Set SGP4 Orbit Mean Anomaly Command Format 53 Set SGP4 Orbit Epoch - Table 70: Set SGP4 Orbit Epoch Command Format Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 74 Table 63: Set SGP4 Orbit Inclination Command Format ID 46 Parameters Length 8 (bytes) Description Parameters Set SGP4 Orbit Inclination Offset Length (bits) (bits) 0 64 Name Inclination Data Type Description DOUBLE Inclination. (Unit of measure is [deg]) Table 64: Set SGP4 Orbit Eccentricity Command Format ID 47 Description Set SGP4 Orbit Eccentricity Parameters Parameters Length (bytes) Offset (bits) Length (bits) 0 64 Name 8 Data Type Eccentricity Description DOUBLE Eccentricity Table 65: Set SGP4 Orbit RAAN Command Format ID 48 Description Set SGP4 Orbit RAAN Parameters Parameters Length (bytes) Offset Length (bits) (bits) 0 64 Name 8 Data Description Type Right-ascension of the DOUBLE Ascending Right-ascension of the Ascending Node. (Unit of Node measure is [deg]) Table 66: Set SGP4 Orbit Argument of Perigee Command Format ID 49 Parameters Length 8 (bytes) Description Parameters Set SGP4 Orbit Argument of Perigee Offset Length (bits) (bits) 0 64 Name Data Description Type Argument Perigee of DOUBLE Argument of Perigee. (Unit of measure is [deg]) Table 67: Set SGP4 Orbit B-Star Drag term Command Format ID 50 Parameters Length (bytes) 8 Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 75 Description Set SGP4 Orbit B-Star Drag term Parameters Offset (bits) Length (bits) Name Data Type Description 0 64 B-Star drag term DOUBLE B-Star drag term Table 68: Set SGP4 Orbit Mean Motion Command Format ID 51 Parameters Length 8 (bytes) Description Parameters Set SGP4 Orbit Mean Motion Offset Length (bits) (bits) 0 64 Name Data Description Type Mean DOUBLE Mean Motion. (Unit of measure Motion is [orbits/day]) Table 69: Set SGP4 Orbit Mean Anomaly Command Format ID 52 Parameters Description Set SGP4 Orbit Mean Anomaly Length 8 (bytes) Parameters Offset Length (bits) (bits) 0 64 Name Data Description Type Mean DOUBLE Mean Anomaly Anomaly. (Unit of (Unit of measure is [deg]) Table 70: Set SGP4 Orbit Epoch Command Format ID 53 Parameters Length 8 (bytes) Description Parameters Set SGP4 Orbit Epoch Offset Length (bits) (bits) 0 64 Name Epoch Data Type DOUBLE Description Epoch (year.day). measure is [year.day]) Table 71: Set Tracking Controller Gain Parameters Command Format ID 54 Parameters Length (bytes) Description Set controller gains for tracking control mode Parameters Offset Length (bits) (bits) Name Data Type 12 Description Part: Doc: Ver: Page: 0 32 Tracking CubeADCS Reference Manual 3.10 76 FLOAT Tracking Proportional Gain (Kp3) FLOAT Tracking Derivative Gain (Kd3) FLOAT Tracking Integral Gain (Ki3) Proportional Gain 32 32 Tracking Derivative Gain 64 32 Tracking Integral Gain Table 72: Tracking Controller Target Reference Command Format ID 55 Parameters Length (bytes) Description Target reference for tracking control mode Parameters Offset Length (bits) (bits) 0 32 Name 12 Data Description Type Geocentric FLOAT longitude of target 32 32 (Unit of measure is [deg]) Geocentric latitude FLOAT of target 64 32 Geocentric longitude of target. Geocentric latitude of target. (Unit of measure is [deg]) Geocentric altitude FLOAT of target Geocentric altitude of target. (Unit of measure is [meter]) Table 73: Set Mode of Magnetometer Operation Command Format ID 56 Parameters Length 1 (bytes) Description Use of main or redundant magnetometer Parameters Offset Length (bits) (bits) 0 8 Name Data Description Type Magnetometer ENUM Mode Mode describing magnetometer is which used for estimation and control. Possible values are in Table 35: MagModeVal Enumeration Values Table 74: Convert to JPG file Command Format ID 57 Parameters Length (bytes) Description Convert raw or bmp files to JPG Parameters Offset Length (bits) (bits) 0 8 Source File Counter UINT Source File Counter 8 8 Quality Factor UINT Quality Factor Name Data 3 Description Type Part: Doc: Ver: Page: 16 8 White Balance CubeADCS Reference Manual 3.10 77 UINT White Balance Table 75: Default Configuration Command Format ID 60 Parameters Length (bytes) 0 Description Retrieves default configuration and saves it to flash Table 76: Save Configuration Command Format ID 63 Parameters Length (bytes) 0 Description Save current configuration to flash memory Table 77: Save Orbit Parameters Command Format ID 64 Description Save current orbit parameters to flash memory Parameters Length (bytes) 0 Table 78: Save Image Command Format ID 80 Parameters Length (bytes) 2 Description Save and capture image from one of CubeSense cameras or CubeStar camera to SD card Parameters Offset Length (bits) (bits) 0 8 Name Data Description Type Camera Select ENUM Camera Selection. Possible values are in Table 79: CamSelect Enumeration Values 8 8 Image Size ENUM Image size selection. Possible values are in Table 80: ImSize Enumeration Values Table 79: CamSelect Enumeration Values Numeric Value Name Description 0 Cam1 Cam1 camera 1 Cam2 Cam2 camera 2 Star Star camera Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 78 Table 80: ImSize Enumeration Values Numeric Value Name Description 0 Size 0 1024 x 1024 pixels 1 Size 1 512 x 512 pixels 2 Size 2 256 x 256 pixels 3 Size 3 128 x 128 pixels 4 Size 4 64 x 64 pixels Table 81: SD Log1 Configuration Command Format ID 104 Parameters Length (bytes) Description Log selection and period for LOG1 Parameters Offset Length (bits) (bits) 0 80 Name 13 Data Description Type Log Selection ARRAY Log Selection - up to 80 flags indicating which telemetry frames should be logged 80 16 Log Period UINT Log period. Set to 0 to disable logging 96 8 Log Destination ENUM Which SD card to use to store log file. Possible values are in Table 82: SdLogSelect Enumeration Values Table 82: SdLogSelect Enumeration Values Numeric Value Name Description 0 Primary SD Card Use Primary (on-board) SD card for log file 1 Secondary SD Card Use Secondary SD card for log file Table 83: SD Log2 Configuration Command Format ID 105 Parameters Length (bytes) Description Log selection and period for LOG2 Parameters Offset Length (bits) (bits) 0 80 Name 13 Data Description Type Log Selection ARRAY Log Selection - up to 80 flags indicating which telemetry frames should be logged 80 16 Log Period UINT Log period. Set to 0 to disable logging Part: Doc: Ver: Page: 96 8 Log Destination CubeADCS Reference Manual 3.10 79 ENUM Which SD card to use to store log file. Possible values are in Table 82: SdLogSelect Enumeration Values Table 84: UART Log Configuration Command Format ID 106 Parameters Length (bytes) Description Log selection and period for UART (unsolicited TLM) Parameters Offset Length (bits) (bits) 0 80 Name 12 Data Description Type Log Selection ARRAY Log Selection - up to 80 flags indicating which telemetry frames should be logged 80 16 Log Period UINT Log period. Set to 0 to disable logging Table 85: Erase File Command Format ID 108 Parameters Length (bytes) Description Erase File Parameters Offset Length (bits) (bits) 0 8 Name 3 Data Description Type File Type ENUM File Type. Possible values are in Table 86: FileType Enumeration Values 8 8 File Counter UINT File Counter 16 1 Erase All BOOL Erase All Table 86: FileType Enumeration Values Numeric Value Name Description 0 Binary Binary File 1 Event Log Event Log File 2 Telemetry Log Telemetry Log File 3 JPG Image JPG Image File 4 BMP Image BMP Image File 5 Payload1 Payload1 File 6 Payload2 Payload2 File 7 Payload3 Payload3 File 8 Payload4 Payload4 File Part: Doc: Ver: Page: 15 Index CubeADCS Reference Manual 3.10 80 Index File Table 87: Load File Download Block Command Format ID 112 Parameters Length (bytes) Description Fill download buffer with file contents Parameters Offset Length (bits) (bits) 0 8 Name 8 Data Description Type File Type ENUM File Type. Possible values are in Table 86: FileType Enumeration Values 8 8 Counter UINT Counter 16 32 Offset UINT Offset 48 16 BlockLength UINT Block Length Table 88: Advance File List Read Pointer Command Format ID 113 Parameters Length (bytes) Description Advance File List Read Pointer 0 Table 89: Initiate File Upload Command Format ID 114 Parameters Length (bytes) Description Initiate File Upload Parameters Offset Length (bits) (bits) 0 8 Name 2 Data Description Type Destination ENUM Destination. Possible values are in Table 90: FileUploadDestination Enumeration Values 8 8 BlockSize UINT Block Size Table 90: FileUploadDestination Enumeration Values Numeric Value Name Description 2 EEPROM EEPROM 3 Flash program 1 Flash program 1 4 Flash program 2 Flash program 2 5 Flash program 3 Flash program 3 6 Flash program 4 Flash program 4 7 Flash program 5 Flash program 5 Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 81 8 Flash program 6 Flash program 6 9 Flash program 7 Flash program 7 10 SD User file 1 SD User file 1 11 SD User file 2 SD User file 2 12 SD User file 3 SD User file 3 13 SD User file 4 SD User file 4 14 SD User file 5 SD User file 5 15 SD User file 6 SD User file 6 16 SD User file 7 SD User file 7 17 SD User file 8 SD User file 8 Table 91: File Upload Packet Command Format ID 115 Parameters Length (bytes) Description File Upload Packet Parameters Offset Length (bits) (bits) 0 16 Packet Number 16 160 File Bytes Name 22 Data Description Type UINT ARRAY Packet Number File Bytes Table 92: Finalize Upload Block Command Format ID 116 Parameters Length (bytes) Description Finalize Uploaded File Block Parameters Offset Length (bits) (bits) 0 8 Name 7 Data Description Type Destination ENUM Destination. Possible values are in Table 90: FileUploadDestination Enumeration Values 8 32 Offset UINT Offset into file 40 16 Block Length UINT Length of block Table 93: Reset Upload Block Command Format ID 117 Parameters Length (bytes) Description Reset HoleMap for Upload Block 0 Table 94: Reset File List Read Pointer Command Format ID 118 Parameters Length (bytes) 0 Part: Doc: Ver: Page: Description CubeADCS Reference Manual 3.10 82 Reset File List Read Pointer Table 95: Initiate Download Burst Command Format ID 119 Parameters Length (bytes) Description Initiate Download Burst Parameters Offset Length (bits) (bits) 0 8 Message Length UINT Message Length 8 1 Ignore Hole Map BOOL Ignore Hole Map Name 2 Data Description Type Table 96: Hole Map 1 Command Format ID 120 Description File Upload Hole Map 1 Parameters Parameters Length (bytes) Offset (bits) Length (bits) 0 128 Name Data Type Hole Map ARRAY 16 Description Hole Map Table 97: Hole Map 2 Command Format ID 121 Description File Upload Hole Map 2 Parameters Parameters Length (bytes) Offset (bits) Length (bits) 0 128 Name Data Type Hole Map ARRAY 16 Description Hole Map Table 98: Hole Map 3 Command Format ID 122 Description File Upload Hole Map 3 Parameters Parameters Length (bytes) Offset (bits) Length (bits) 0 128 Name Data Type Hole Map ARRAY 16 Description Hole Map Table 99: Hole Map 4 Command Format ID 123 Description File Upload Hole Map 4 Parameters Parameters Length (bytes) Offset (bits) Length (bits) 0 128 Name Hole Map Data Type ARRAY 16 Description Hole Map Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 83 Table 100: Hole Map 5 Command Format ID 124 Description File Upload Hole Map 5 Parameters Parameters Length (bytes) Offset (bits) Length (bits) 0 128 Name 16 Data Type Hole Map ARRAY Description Hole Map Table 101: Hole Map 6 Command Format ID 125 Description File Upload Hole Map 6 Parameters Parameters Length (bytes) Offset (bits) Length (bits) 0 128 Name 16 Data Type Hole Map ARRAY Description Hole Map Table 102: Hole Map 7 Command Format ID 126 Description File Upload Hole Map 7 Parameters Parameters Length (bytes) Offset (bits) Length (bits) 0 128 Name 16 Data Type Hole Map ARRAY Description Hole Map Table 103: Hole Map 8 Command Format ID 127 Description File Upload Hole Map 8 Parameters Parameters Length (bytes) Offset (bits) Length (bits) 0 128 Name Hole Map 16 Data Type ARRAY Description Hole Map 4.5.8 Telemetry Table 104: List of Telemetry Frames ID Name Description Length (bytes) General 128 Identification Identification information for this node - 8 Table 105: Identification Telemetry Format 129 Unix Time Save to Flash Configuration settings for unixtime flash memory persistence - Table 106: Unix Time Save to Flash Telemetry Format 2 Part: Doc: Ver: Page: 130 Boot Index and Status CubeADCS Reference Manual 3.10 84 Current selected boot index and status of last 2 boot - Table 107: Boot Index and Status Telemetry Format 131 Cache enabled state Cache enabled state - Table 110: Cache 1 enabled state Telemetry Format 132 Boot And Running Program Status Boot And Running Program Status - Table 6 111: Boot And Running Program Status Telemetry Format 133 JPG Conversion Progress Conversion progress - Table 114: JPG 3 Conversion Progress Telemetry Format 134 SRAM Scrub Parameters SRAM scrubbing size - Table 116: SRAM 2 Scrub Parameters Telemetry Format 135 CubeACP State Contains flags regarding the state of the ACP 1 - Table 117: CubeACP State Telemetry Format 140 Current Unix Time Current Unix Time - Table 118: Current Unix 6 Time Telemetry Format 141 Last Logged Event Last Logged Event (relative to pointer - 6 adjusted via Advance and Reset TCs (3 & 4) Table 119: Last Logged Event Telemetry Format 142 SRAM Latchup counters SRAM Latchup counters - Table 120: SRAM 6 Latchup counters Telemetry Format 143 EDAC Error Counters EDAC Error Counters - Table 121: EDAC Error 6 Counters Telemetry Format 144 Communication Status Communication status - includes command 6 and telemetry counters and error flags - Table 122: Communication Status Telemetry Format 145 Current ADCS State Current state of the Attitude Control 6 Processor - Table 123: Current ADCS State Telemetry Format 146 Estimated Attitude Angles Estimated attitude angles - Table 124: 6 Estimated Attitude Angles Telemetry Format 147 Estimated Angular Rates Estimated angular rates relative to orbit 6 reference frame - Table 125: Estimated Angular Rates Telemetry Format 148 Satellite Position (ECI) Satellite position in ECI frame - Table 126: 6 Satellite Position (ECI) Telemetry Format 149 Satellite Velocity (ECI) Satellite velocity in ECI frame - Table 127: 6 Satellite Velocity (ECI) Telemetry Format 150 Satellite Position (LLH) Satellite position in WGS-84 coordinate frame - Table 128: Satellite Position (LLH) Telemetry Format 6 Part: Doc: Ver: Page: 151 Magnetic Field Vector CubeADCS Reference Manual 3.10 85 Measured magnetic field vector - Table 129: 6 Magnetic Field Vector Telemetry Format 152 Coarse Sun Vector Measured coarse sun vector - Table 130: 6 Coarse Sun Vector Telemetry Format 153 Fine Sun Vector Measured fine sun vector - Table 131: Fine 6 Sun Vector Telemetry Format 154 Nadir Vector Measured nadir vector - Table 132: Nadir 6 Vector Telemetry Format 155 Rate Sensor Rates Rate sensor measurements - Table 133: Rate 6 Sensor Rates Telemetry Format 156 Wheel Speed Wheel speed measurement - Table 134: 6 Wheel Speed Telemetry Format 157 Magnetorquer Command Magnetorquer commands - Table 135: 6 Magnetorquer Command Telemetry Format 158 Wheel Speed Commands Wheel speed commands - Table 136: Wheel 159 IGRF Modelled Magnetic Field IGRF modelled magnetic field vector (orbit Vector frame referenced) - Table 137: IGRF Modelled 6 Speed Commands Telemetry Format 6 Magnetic Field Vector Telemetry Format 160 Modelled Sun Vector Modelled sun vector (orbit frame referenced) 6 - Table 138: Modelled Sun Vector Telemetry Format 161 Estimated Gyro Bias Estimated rate sensor bias - Table 139: 6 Estimated Gyro Bias Telemetry Format 162 Estimation Innovation Vector Estimation innovation vector - Table 140: 6 Estimation Innovation Vector Telemetry Format 163 Quaternion Error Vector Quaternion error vector - Table 141: 6 Quaternion Error Vector Telemetry Format 164 Quaternion Covariance Quaternion covariance - Table 142: 6 Quaternion Covariance Telemetry Format 165 Angular Rate Covariance Angular rate covariance - Table 143: Angular 6 Rate Covariance Telemetry Format 166 Raw Cam2 Sensor Cam2 sensor capture and detection result - 6 Table 144: Raw Cam2 Sensor Telemetry Format 167 Raw Cam1 Sensor Cam1 sensor capture and detection result - 6 Table 147: Raw Cam1 Sensor Telemetry Format 168 Raw CSS 1 to 6 Raw CSS measurements 1 to 6 - Table 148: 6 Raw CSS 1 to 6 Telemetry Format 169 Raw CSS 7 to 10 Raw CSS measurements 7 to 10 - Table 149: Raw CSS 7 to 10 Telemetry Format 6 Part: Doc: Ver: Page: 170 Raw Magnetometer CubeADCS Reference Manual 3.10 86 Raw magnetometer measurements - Table 6 150: Raw Magnetometer Telemetry Format 171 CubeSense Current Measurements CubeSense current measurements - Table 6 151: CubeSense Current Measurements Telemetry Format 172 CubeControl Current CubeControl current measurements - Table Measurements 152: CubeControl Current Measurements 6 Telemetry Format 173 Wheel Currents XYZ Wheel current measurement - Table 153: 6 Wheel Currents Telemetry Format 174 ADCS Temperatures Magnetometer + MCU temperature 6 measurements - Table 154: ADCS Temperatures Telemetry Format 175 Rate sensor temperatures Rate sensor temperatures - Table 155: Rate 6 sensor temperatures Telemetry Format 176 Raw GPS Status Raw GPS status - Table 156: Raw GPS Status 6 Telemetry Format 177 Raw GPS Time Raw GPS time - Table 158: Raw GPS Time 6 Telemetry Format 178 Raw GPS X Raw GPS X position and velocity (ECI 6 referenced) - Table 159: Raw GPS X Telemetry Format 179 Raw GPS Y Raw GPS Y position and velocity (ECI 6 referenced) - Table 160: Raw GPS Y Telemetry Format 180 Raw GPS Z Raw GPS Z position and velocity (ECI 6 referenced) - Table 161: Raw GPS Z Telemetry Format 181 Star 1 Body Vector Star 1 Body Vector - Table 162: Star 1 Body 6 Vector Telemetry Format 182 Star 2 Body Vector Star 2 Body Vector - Table 163: Star 2 Body 6 Vector Telemetry Format 183 Star 3 Body Vector Star 3 Body Vector - Table 164: Star 3 Body 6 Vector Telemetry Format 184 Star 1 Orbit Vector Star 1 Orbit Vector - Table 165: Star 1 Orbit 6 Vector Telemetry Format 185 Star 2 Orbit Vector Star 2 Orbit Vector - Table 166: Star 2 Orbit 6 Vector Telemetry Format 186 Star 3 Orbit Vector Star 3 Orbit Vector - Table 167: Star 3 Orbit 6 Vector Telemetry Format 187 Star Magnitude Instrument magnitude of identified stars Table 168: Star Magnitude Telemetry Format 6 Part: Doc: Ver: Page: 188 Star Performance CubeADCS Reference Manual 3.10 87 Performance parameters of star measurement 6 - Table 169: Star Performance Telemetry Format 189 Star Timing Timing information of star measurement - 6 Table 171: Star Timing Telemetry Format 190 ADCS State Current ADCS state - Table 172: ADCS State 48 Telemetry Format 191 ADCS Measurements Calibrated sensor measurements - Table 174: 72 ADCS Measurements Telemetry Format 192 Actuator Commands Actuator commands - Table 176: Actuator 12 Commands Telemetry Format 193 Estimation Data Estimation meta-data - Table 178: Estimation 42 Data Telemetry Format 194 Raw Sensor Measurements Raw sensor measurements - Table 180: Raw 28 Sensor Measurements Telemetry Format 195 Power and Temperature Power and temperature measurements - Measurements Table 182: Power and Temperature 34 Measurements Telemetry Format 196 Adcs Execution Times Returns information about execution times of 8 ACP functions - Table 184: Adcs Execution Times Telemetry Format 197 ADCS Power Control Control power to selected components - 3 Table 185: ADCS Power Control Telemetry Format 198 ADCS Misc Current Measurements CubeStar and Torquer current measurements 6 - Table 186: ADCS Misc Current Measurements Telemetry Format 199 Commanded Attitude Angles Commanded attitude angles - Table 187: 6 Commanded Attitude Angles Telemetry Format 200 Tracking Controller Target Target reference for tracking control mode - Reference Table 188: Tracking Controller Target 12 Reference Telemetry Format 206 ADCS Configuration Current configuration - Table 189: ADCS 272 Configuration Telemetry Format 207 SGP4 Orbit Parameters SGP4 Orbit Parameters - Table 190: SGP4 64 Orbit Parameters Telemetry Format 210 Raw GPS Measurements Raw GPS measurements - Table 191: Raw GPS 36 Measurements Telemetry Format 211 Raw Star Tracker Raw Star Tracker Measurement - Table 193: Raw Star Tracker Telemetry Format 36 Part: Doc: Ver: Page: 212 Star 1 Raw Data CubeADCS Reference Manual 3.10 88 Catalogue index and detected coordinates for 6 star 1 - Table 195: Star 1 Raw Data Telemetry Format 213 Star 2 Raw Data Catalogue index and detected coordinates for 6 star 2 - Table 196: Star 2 Raw Data Telemetry Format 214 Star 3 Raw Data Catalogue index and detected coordinates for 6 star 3 - Table 197: Star 3 Raw Data Telemetry Format 215 Redundant Magnetometer Raw Redundant Magnetometer raw measurements Measurements - Table 198: Redundant Magnetometer Raw 6 Measurements Telemetry Format 218 Estimated Quaternion 219 ECEF Position Estimated quaternion set - Table 199: 6 Estimated Quaternion Telemetry Format Satellite position in ECEF coordinates - Table 6 200: ECEF Position Telemetry Format 220 ACP Execution State Returns information about the ACP loop - 3 Table 201: ACP Execution State Telemetry Format 233 Status of Image Capture and Save Status of Image Capture and Save Operation - Operation Table 203: Status of Image Capture and Save 2 Operation Telemetry Format 235 SD Log1 Configuration Log selection and period for LOG1 - Table 13 205: SD Log1 Configuration Telemetry Format 236 SD Log2 Configuration Log selection and period for LOG2 - Table 13 206: SD Log2 Configuration Telemetry Format 237 UART Log Configuration Log selection and period for UART 12 (unsolicited TLM) - Table 207: UART Log Configuration Telemetry Format 240 Telecommand Acknowledge Telemetry frame with acknowledge status of 4 the previously sent command - Table 208: Telecommand Acknowledge Telemetry Format 241 File Download Buffer with File File Download buffer 20-byte packet - Table Contents 210: File Download Buffer with File Contents 22 Telemetry Format 242 Download Block Ready Status about download block preparation - 5 Table 211: Download Block Ready Telemetry Format 243 File Information File Information - Table 212: File Information 12 Telemetry Format 244 Initialize Upload Complete Initialize Upload Complete - Table 213: Initialize Upload Complete Telemetry Format 1 Part: Doc: Ver: Page: 245 Upload Block Complete CubeADCS Reference Manual 3.10 89 Finalize Upload Block Complete - Table 214: 1 Upload Block Complete Telemetry Format 246 Block Checksum File upload Block CRC16 Checksum - Table 2 215: Block Checksum Telemetry Format 247 Hole Map 1 File Upload Hole Map 1 - Table 216: Hole 16 Map 1 Telemetry Format 248 Hole Map 2 File Upload Hole Map 2 - Table 217: Hole 16 Map 2 Telemetry Format 249 Hole Map 3 File Upload Hole Map 3 - Table 218: Hole 16 Map 3 Telemetry Format 250 Hole Map 4 File Upload Hole Map 4 - Table 219: Hole 16 Map 4 Telemetry Format 251 Hole Map 5 File Upload Hole Map 5 - Table 220: Hole 16 Map 5 Telemetry Format 252 Hole Map 6 253 Hole Map 7 File Upload Hole Map 6 - Table 221: Hole 16 Map 6 Telemetry Format File Upload Hole Map 7 - Table 222: Hole 16 Map 7 Telemetry Format 254 Hole Map 8 File Upload Hole Map 8 - Table 223: Hole 16 Map 8 Telemetry Format Table 105: Identification Telemetry Format ID 128 Frame Length (bytes) Description Identification information for this node Channels Offset Length (bits) (bits) 0 8 Node type UINT Node type identifier. 8 8 Interface version UINT Interface version. This field Name 8 Data Description Type should have a value of 1 16 8 Firmware version UINT Firmware version (Major) UINT Firmware version (Minor) UINT Number of seconds since (Major) 24 8 Firmware version (Minor) 32 16 Runtime (seconds) processor start-up 48 16 Runtime (milliseconds) UINT Number of milliseconds (after the integer second) since processor start-up Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 90 Table 106: Unix Time Save to Flash Telemetry Format ID 129 Frame Length (bytes) Description Configuration settings for unixtime flash memory persistence Channels Offset Length (bits) (bits) 0 1 Name 2 Data Description Type Save Now BOOL Save current unixtime to flash memory 1 1 Save On Update BOOL Save unixtime to flash memory whenever there is a command to update the unixtime 2 1 Save Periodic BOOL Save unixtime to flash memory periodically 8 8 Period UINT Interval at which to save unixtime to flash memory. (Unit of measure is [s]) Table 107: Boot Index and Status Telemetry Format ID 130 Frame Length (bytes) Description Current selected boot index and status of last boot Channels Offset Length (bits) (bits) 0 8 Name 2 Data Description Type Program Index ENUM Program Index. Possible values are in Table 108: BootProgramsList Enumeration Values 8 8 Boot Status ENUM Boot Status. Possible values are in Table 109: Enumeration Values Table 108: BootProgramsList Enumeration Values Numeric Value Name Description 0 Bootloader Bootloader 1 Internal Flash Program Internal Flash Program 2 EEPROM EEPROM 3 External Flash Program 1 External Flash Program 1 4 External Flash Program 2 External Flash Program 2 5 External Flash Program 3 External Flash Program 3 6 External Flash Program 4 External Flash Program 4 7 External Flash Program 5 External Flash Program 5 BootStatus Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 91 8 External Flash Program 6 External Flash Program 6 9 External Flash Program 7 External Flash Program 7 Table 109: BootStatus Enumeration Values Numeric Value Name Description 0 New Selection New Selection 1 Boot Success Boot Success 2 1 Failed boot attempt 1 Failed boot attempt 3 2 Failed boot attempts 2 Failed boot attempts 4 3 Failed boot attempts 3 Failed boot attempts Table 110: Cache enabled state Telemetry Format ID 131 Description Cache enabled state Channels Frame Length (bytes) Offset (bits) Length (bits) 0 1 Name 1 Data Type Enabled state BOOL Description Enabled state Table 111: Boot And Running Program Status Telemetry Format ID 132 Frame Length (bytes) Description Boot And Running Program Status Channels Offset Length (bits) (bits) 0 4 Name 6 Data Description Type Cause of MCU ENUM Reset Cause of MCU reset. Possible values are in Table 112: ResetCause Enumeration Values 4 4 Boot Cause ENUM Cause of last reboot. Possible values are in Table 113: BootCause Enumeration Values 8 16 Boot Counter UINT Number of times CubeComputer has booted 24 8 Boot Program ENUM Index Index of current running program in flash programs list. Possible values are in Table 108: BootProgramsList Enumeration Values 32 8 Firmware version (Major) UINT Firmware version (Major) Part: Doc: Ver: Page: 40 8 Firmware version CubeADCS Reference Manual 3.10 92 UINT Firmware version (Minor) (Minor) Table 112: ResetCause Enumeration Values Numeric Value Name Description 0 Power-On Reset Power-On Reset 1 Brown-Out Detected on Regulated Brown-Out Detected on Regulated Power Power 2 Brown-Out Detected on Brown-Out Detected on Unregulated Unregulated Power Power 3 External Watchdog Reset External Watchdog Reset 4 External Reset External Reset 5 Watchdog Reset Watchdog Reset 6 Lockup System Reset Lockup System Reset 7 Lockup Reset Lockup Reset 8 System Request Reset System Request Reset 9 Backup Brown-Out Backup domain brown-out reset 10 Backup Mode Reset Backup mode reset 11 Backup Mode RST and Backup Backup Mode reset and Backup domain Brown-Out Vdd Regulated brown-out on VDD regulated 12 BackupModeRST Brown-Out 13 Vdd and Backup Regulated and Backup Mode reset and Backup domain brown-out on VDD regulated and brown Brown-Out Regulated out on regulated Backup Mode RST and Watchdog Backup mode reset and Watchdog reset Reset 14 15 Backup Brown-Out Buvin and Backup Domain brown-out on BUVIN and System Request Reset System request reset. Unkown Reset Cause Unkown Reset Cause Table 113: BootCause Enumeration Values Numeric Value Name Description 0 Unexpected Unexpected reset 1 Not Used 2 Communications Timeout Timeout due to lack of communications 3 Commanded Software commanded MCU reset 4 Not Used 5 SRAM Latchup Latchup detected in SRAM Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 93 Table 114: JPG Conversion Progress Telemetry Format ID 133 Frame Length (bytes) Description Conversion progress Channels Offset Length (bits) (bits) 0 8 Name 3 Data Description Type Progress UINT Progress % Percentage 8 8 Conversion Result ENUM JPG Conversion Result. Possible values are in Table 115: JpgConvertResult Enumeration Values 16 8 Output File Counter UINT Output File Counter Table 115: JpgConvertResult Enumeration Values Numeric Value Name Description 0 Nothing Converted Yet Nothing Converted Yet 1 Success Success 2 File Load Error File Load Error 3 Busy Busy Table 116: SRAM Scrub Parameters Telemetry Format ID 134 Description SRAM scrubbing size Channels Frame Length (bytes) Offset (bits) Length (bits) 0 16 Name 2 Data Type Scrub Size UINT Description Scrub Size Table 117: CubeACP State Telemetry Format ID 135 Frame Length (bytes) Description Contains flags regarding the state of the ACP Channels Offset Length (bits) (bits) 0 1 Name 1 Data Description Type ADCS Config Load BOOL Error Flag to indicate that the ADCS configuartion was not read successfully out of flash 1 1 Orbit Parameter Load Error BOOL Flag to indicate that the Orbit parameters were not successfully out of flash read Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 94 Table 118: Current Unix Time Telemetry Format ID 140 Frame Length (bytes) Description Current Unix Time Channels Offset Length (bits) (bits) 0 32 Name 6 Data Description Type Current Unix Time UINT Time in s since 01/01/1970, 00:00. (Unit of measure is [s]) 32 16 Milliseconds UINT Current millisecond count. (Unit of measure is [ms]) Table 119: Last Logged Event Telemetry Format ID 141 Frame Length (bytes) Description Last Logged Event (relative to pointer - adjusted via Advance and Reset TCs (3 & 4) Channels Offset Length (bits) (bits) 0 32 Time of Event UINT 32 8 Event ID UINT Event ID 40 8 Event Parameter UINT Event Parameter Name 6 Data Description Type Table 120: SRAM Latchup counters Telemetry Format ID 142 Frame Length (bytes) Description SRAM Latchup counters Channels Offset Length (bits) (bits) 0 16 Name 6 Data Description Type SRAM1 latchups UINT The number of SRAM1 latchups detected 16 16 SRAM2 latchups UINT The number of SRAM2 latchups detected Table 121: EDAC Error Counters Telemetry Format ID 143 Description EDAC Error Counters Frame Length (bytes) Channels Offset Length (bits) (bits) 0 16 Name 6 Data Description Type Single SRAM upsets UINT The number of single SRAM upsets (per byte) detected Part: Doc: Ver: Page: 16 16 Double SRAM CubeADCS Reference Manual 3.10 95 UINT upsets 32 16 The number of double SRAM upsets (per byte) detected Multiple SRAM UINT upsets The number of multiple SRAM upsets (per byte) deteced Table 122: Communication Status Telemetry Format ID 144 Frame Length (bytes) Description Communication status - includes command and telemetry counters and error flags Channels Offset Length (bits) (bits) 0 16 Name 6 Data Description Type Telecommand UINT No. of telecommands received UINT No. of telemetry requests counter 16 16 Telemetry request counter 32 1 received Telecommand BOOL buffer overrun 33 1 TC buffer was overrun while receiving a telecommand UART protocol BOOL UART protocol error occurred BOOL UART start-of-message identifier error 34 1 UART incomplete message was received without a preceding end-of-message 35 1 I2C telemetry error BOOL Number of data clocked out was more than telemetry package 36 1 I2C telecommand BOOL buffer error 37 1 Telecommand sent exceeds buffer size CAN telecommand BOOL buffer error Telecommand sent exceeds buffer size Table 123: Current ADCS State Telemetry Format ID 145 Frame Length (bytes) Description Current state of the Attitude Control Processor Channels Offset Length (bits) (bits) 0 4 Name 6 Data Description Type Attitude Estimation ENUM Mode Current attitude estimation mode. Possible values are in Table 27: EstimModeSelect Enumeration Values 4 4 Control Mode ENUM Current attitude control mode. Possible values are in Table 25: Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 96 ConModeSelect Enumeration Values 8 2 ADCS Run Mode ENUM Current ADCS Running mode. Possible values are in Table 20: AdcsRunMode Enumeration Values 10 1 CubeControl Signal BOOL Enabled 11 1 CubeControl Motor CubeControl Signal electronics enabled status BOOL Enabled CubeControl Motor electronics enabled status 12 1 CubeSense Enabled BOOL CubeSense enabled status 13 1 CubeWheel1 BOOL CubeWheel1 enabled status BOOL CubeWheel2 enabled status BOOL CubeWheel3 enabled status Enabled 14 1 CubeWheel2 Enabled 15 1 CubeWheel3 Enabled 16 1 CubeStar Enabled BOOL CubeStar enabled status 17 1 GPS Receiver BOOL GPS Receiver enabled status BOOL GPS Antenna LNA enabled status BOOL Motor Driver Electronics enabled Enabled 18 1 GPS LNA Power Enabled 19 1 Motor Driver Enabled 20 1 Sun is Above Local status BOOL Horizon 21 1 CubeSense Sun is above the local horizon (elevation > 0) BOOL Communications Communication error occurred with the CubeSense Error 22 23 24 1 1 1 CubeControl Signal BOOL Communication error occurred Communications with the CubeControl Signal Error MCU CubeControl Motor BOOL Communication error occurred Communications with the CubeControl Motor Error MCU CubeWheel1 BOOL Communications Communication error occurred with the CubeWheel1 Error 25 1 CubeWheel2 Communications Error BOOL Communication error occurred with the CubeWheel2 Part: Doc: Ver: Page: 26 1 CubeWheel3 CubeADCS Reference Manual 3.10 97 BOOL Communications Communication error occurred with the CubeWheel3 Error 27 1 CubeStar BOOL Communications Communication error occurred with the CubeStar Error 28 1 Magnetometer BOOL Range Error Magnetometer measured magnetic field with size < 100 nT or >100,000nT 29 1 Cam1 Sensor BOOL Overcurrent Cam1 sensor overcurrent detected Detected 30 1 Cam1 Sensor Busy BOOL Error 31 1 Cam1 Sensor Cam1 sensor was not idle at the start of ADCS loop BOOL Detection Error Cam1 sensor was unable to compute angles (could be not in FOV) 32 1 Sun Sensor Range BOOL Error 33 1 Cam2 Sensor Detected sun angles were outside of +/- 90 deg BOOL Overcurrent Cam2 sensor overcurrent detected Detected 34 1 Cam2 Sensor Busy BOOL Error 35 1 Cam2 Sensor Cam2 sensor was not idle at the start of ADCS loop BOOL Detection Error Cam2 sensor was unable to compute angles (could be not in FOV) 36 1 Nadir Sensor Range BOOL Error 37 1 Rate Sensor Range outside of +/- 60 deg BOOL Error 38 1 Wheel Speed Detected nadir angles were Measured XYZ-body rate is outside of the range +/-20 deg/s BOOL Range Error Wheel XYZ speed measurement was outside the range +/-8500 rpm 39 1 Coarse Sun Sensor BOOL Error 40 1 StarTracker Match vector (could be not in FOV) BOOL Error 41 1 Star Tracker Overcurrent Detected Unable to compute Coarse Sun Unable to obtain enough matched stars BOOL Star tracker overcurrent detected Part: Doc: Ver: Page: 42 1 Orbit Parameters CubeADCS Reference Manual 3.10 98 BOOL are Invalid Orbit Parameters are not in allowed bounds (angle exceeding limits etc.). Failed to initialize SGP4 propagator using supplied parameters 43 1 Configuration is BOOL Invalid Magnetorquer Configuration or CSS in invalid. Each principle axis should have a torquer output (1,2, or 3) assigned. At least one CSS per principle axis needed 44 1 Control Mode BOOL Attempt was made to select Change is not control mode without allowed appropriate estimator, or command to set Y-momentum mode while not in steady-state Y-Thomson 45 1 Estimator Change is BOOL not allowed Attempt was made to change to an estimation mode that would be inapropriate for the current control mode 46 1 47 1 Modelled and BOOL Modelled and measured measured magnetic magnetic field differs in size by field differs in size more than 5000 nT Node Recovery BOOL Error Failed to Recover an ADCS Node by successive resets Table 124: Estimated Attitude Angles Telemetry Format ID 146 Frame Length (bytes) Description Estimated attitude angles Channels Offset Length (bits) (bits) 0 16 Name 6 Data Description Type Estimated Roll INT Angle Estimated roll angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01 16 16 Estimated Pitch INT Angle Estimated pitch angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01 32 16 Estimated Angle Yaw INT Estimated yaw angle. Formatted value is obtained using the Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 99 formula: (formatted value) [deg] = RAWVAL*0.01 Table 125: Estimated Angular Rates Telemetry Format ID 147 Frame Length (bytes) Description Estimated angular rates relative to orbit reference frame Channels Offset Length (bits) (bits) 0 16 Name 6 Data Description Type Estimated X INT Angular Rate Estimated X angular rate. Formatted value is obtained using the formula: (formatted value) [deg/s] = RAWVAL*0.01 16 16 Estimated Y INT Angular Rate Estimated Y angular rate. Formatted value is obtained using the formula: (formatted value) [deg/s] = RAWVAL*0.01 32 16 Estimated Z Angular INT Rate Estimated Z angular rate. Formatted value is obtained using the formula: (formatted value) [deg/s] = RAWVAL*0.01 Table 126: Satellite Position (ECI) Telemetry Format ID 148 Description Satellite position in ECI frame Frame Length (bytes) Channels Offset Length (bits) (bits) 0 16 Name 6 Data Description Type X position INT ECI referenced X coordinate . Formatted value is obtained using the formula: (formatted value) [km] = RAWVAL*0.25 16 16 Y position INT ECI referenced Y coordinate . Formatted value is obtained using the formula: (formatted value) [km] = RAWVAL*0.25 32 16 Z position INT ECI referenced Z coordinate . Formatted value is obtained using the formula: (formatted value) [km] = RAWVAL*0.25 Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 100 Table 127: Satellite Velocity (ECI) Telemetry Format ID 149 Frame Length (bytes) Description Satellite velocity in ECI frame Channels Offset Length (bits) (bits) 0 16 Name 6 Data Description Type X Velocity INT ECI referenced X velocity . Formatted value is obtained using the formula: (formatted value) [m/s] = RAWVAL*0.25 16 16 Y Velocity INT ECI referenced Y velocity . Formatted value is obtained using the formula: (formatted value) [m/s] = RAWVAL*0.25 32 16 Z Velocity INT ECI referenced Z velocity . Formatted value is obtained using the formula: (formatted value) [m/s] = RAWVAL*0.25 Table 128: Satellite Position (LLH) Telemetry Format ID 150 Frame Length (bytes) Description Satellite position in WGS-84 coordinate frame Channels Offset Length (bits) (bits) 0 16 Name 6 Data Description Type Latitude INT WGS-84 Latitude angle . Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01 16 16 Longitude INT Longitude angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01 32 16 Altitude UINT WGS-84 altitude. Formatted value is obtained using the formula: (formatted RAWVAL*0.01 Table 129: Magnetic Field Vector Telemetry Format ID 151 Frame Length (bytes) Description Measured magnetic field vector 6 value) [km] = Part: Doc: Ver: Page: Channels Offset Length (bits) (bits) 0 16 Name CubeADCS Reference Manual 3.10 101 Data Description Type Magnetic Field X INT Magnetic Field X. Formatted value is obtained using the formula: (formatted value) [uT] = RAWVAL*0.01 16 16 Magnetic Field Y INT Magnetic Field Y. Formatted value is obtained using the formula: (formatted value) [uT] = RAWVAL*0.01 32 16 Magnetic Field Z INT Magnetic Field Z. Formatted value is obtained using the formula: (formatted value) [uT] = RAWVAL*0.01 Table 130: Coarse Sun Vector Telemetry Format ID 152 Frame Length (bytes) Description Measured coarse sun vector Channels Offset Length (bits) (bits) 0 16 Name 6 Data Description Type Coarse Sun X INT Coarse Sun X. Formatted value is obtained using the formula: (formatted value) = RAWVAL/10000.0 16 16 Coarse Sun Y INT Coarse Sun Y. Formatted value is obtained using the formula: (formatted value) = RAWVAL/10000.0 32 16 Coarse Sun Z INT Coarse Sun Z. Formatted value is obtained using (formatted the formula: value) RAWVAL/10000.0 Table 131: Fine Sun Vector Telemetry Format ID 153 Frame Length (bytes) Description Measured fine sun vector Channels Offset Length (bits) (bits) 0 16 Name 6 Data Description Type Sun X INT Sun X. Formatted value is obtained using the formula: = Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 102 (formatted value) = RAWVAL/10000.0 16 16 Sun Y INT Sun Y. Formatted value is obtained using the formula: (formatted value) = RAWVAL/10000.0 32 16 Sun Z INT Sun Z. Formatted obtained using (formatted value the is formula: value) = RAWVAL/10000.0 Table 132: Nadir Vector Telemetry Format ID 154 Frame Length (bytes) Description Measured nadir vector Channels Offset Length (bits) (bits) 0 16 Name 6 Data Description Type Nadir X INT Nadir X. Formatted value is obtained using the formula: (formatted value) = RAWVAL/10000.0 16 16 Nadir Y INT Nadir Y. Formatted value is obtained using the formula: (formatted value) = RAWVAL/10000.0 32 16 Nadir Z INT Nadir Z. Formatted value is obtained using (formatted the formula: value) = RAWVAL/10000.0 Table 133: Rate Sensor Rates Telemetry Format ID 155 Description Rate sensor measurements Frame Length (bytes) Channels Offset Length (bits) (bits) 0 16 Name 6 Data Description Type X Angular Rate INT X Angular Rate. Formatted value is obtained using the formula: (formatted value) [deg/s] = RAWVAL*0.01 16 16 Y Angular Rate INT Y Angular Rate. Formatted value is obtained using the formula: Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 103 (formatted value) [deg/s] = RAWVAL*0.01 32 16 Z Angular Rate INT Z Angular Rate. Formatted value is obtained using the formula: (formatted value) [deg/s] = RAWVAL*0.01 Table 134: Wheel Speed Telemetry Format ID 156 Frame Length (bytes) Description Wheel speed measurement Channels Offset Length (bits) (bits) 0 16 Name 6 Data Description Type X Wheel Speed INT X Wheel Speed. (Unit of measure is [rpm]) 16 16 Y Wheel Speed INT Y Wheel Speed. (Unit of measure is [rpm]) 32 16 Z Wheel Speed INT Z Wheel Speed. (Unit of measure is [rpm]) Table 135: Magnetorquer Command Telemetry Format ID 157 Frame Length (bytes) Description Magnetorquer commands Channels Offset Length (bits) (bits) 0 16 Name 6 Data Description Type X Magnetorquer INT Command X Magnetorquer Commanded on-time. (Unit of measure is [10ms units]) 16 16 Y Magnetorquer INT Command Y Magnetorquer Commanded on-time. (Unit of measure is [10ms units]) 32 16 Z Magnetorquer Command INT Z Magnetorquer on-time. (Unit of measure is [10ms units]) Table 136: Wheel Speed Commands Telemetry Format ID 158 Frame Length (bytes) Description Wheel speed commands Commanded 6 Part: Doc: Ver: Page: Channels Offset Length (bits) (bits) 0 16 Name CubeADCS Reference Manual 3.10 104 Data Description Type X Wheel Speed INT X Wheel Speed. (Unit of measure is [rpm]) 16 16 Y Wheel Speed INT Y Wheel Speed. (Unit of measure is [rpm]) 32 16 Z Wheel Speed INT Z Wheel Speed. (Unit of measure is [rpm]) Table 137: IGRF Modelled Magnetic Field Vector Telemetry Format ID 159 Frame Length (bytes) Description IGRF modelled magnetic field vector (orbit frame referenced) Channels Offset Length (bits) (bits) 0 16 Name 6 Data Description Type IGRF Modelled INT Magnetic Field X IGRF Modelled Magnetic Field X. Formatted value is obtained using the formula: (formatted value) [uT] = RAWVAL*0.01 16 16 IGRF Modelled INT Magnetic Field Y IGRF Modelled Magnetic Field Y. Formatted value is obtained using the formula: (formatted value) [uT] = RAWVAL*0.01 32 16 IGRF Modelled INT Magnetic Field Z IGRF Modelled Magnetic Field Z. Formatted value is obtained using the formula: (formatted value) [uT] = RAWVAL*0.01 Table 138: Modelled Sun Vector Telemetry Format ID 160 Frame Length (bytes) Description Modelled sun vector (orbit frame referenced) Channels Offset Length (bits) (bits) 0 16 Name 6 Data Description Type Modelled Sun INT Vector X Modelled Sun Vector X. Formatted value is obtained using the formula: (formatted value) = RAWVAL/10000.0 16 16 Modelled Sun Vector Y INT Modelled Sun Vector Y. Formatted value is obtained using the formula: (formatted value) = RAWVAL/10000.0 Part: Doc: Ver: Page: 32 16 Modelled Sun CubeADCS Reference Manual 3.10 105 INT Vector Z Modelled Sun Vector Z. Formatted value is obtained using the formula: (formatted value) = RAWVAL/10000.0 Table 139: Estimated Gyro Bias Telemetry Format ID 161 Frame Length (bytes) Description Estimated rate sensor bias Channels Offset Length (bits) (bits) 0 16 Name 6 Data Description Type Estimated X-gyro INT Bias Estimated X-gyro Bias. Formatted value is obtained using the formula: (formatted value) [deg/s] = RAWVAL*0.001 16 16 Estimated Y-gyro INT Bias Estimated Y-gyro Bias. Formatted value is obtained using the formula: (formatted value) [deg/s] = RAWVAL*0.001 32 16 Estimated Z-gyro INT Bias Estimated Z-gyro Bias. Formatted value is obtained using the formula: (formatted value) [deg/s] = RAWVAL*0.001 Table 140: Estimation Innovation Vector Telemetry Format ID 162 Frame Length (bytes) Description Estimation innovation vector Channels Offset Length (bits) (bits) 0 16 Name 6 Data Description Type Innovation Vector X INT Innovation Vector X. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001 16 16 Innovation Vector Y INT Innovation Vector Y. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001 32 16 Innovation Vector Z INT Innovation Vector Z. Formatted value is obtained formula: (formatted RAWVAL*0.0001 using value) the = Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 106 Table 141: Quaternion Error Vector Telemetry Format ID 163 Frame Length (bytes) Description Quaternion error vector Channels Offset Length (bits) (bits) 0 16 Name 6 Data Description Type Quaternion Error - INT Q1 Quaternion Error - Q1. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001 16 16 Quaternion Error - INT Q2 Quaternion Error - Q2. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001 32 16 Quaternion Error - INT Q3 Quaternion Error - Q3. Formatted value is obtained formula: using (formatted value) the = RAWVAL*0.0001 Table 142: Quaternion Covariance Telemetry Format ID 164 Frame Length (bytes) Description Quaternion covariance Channels Offset Length (bits) (bits) 0 16 Name 6 Data Description Type Quaternion INT Quaternion Covariance - Q1 Covariance - Q1 RMS. Formatted value is RMS obtained using the formula: (formatted value) = RAWVAL*0.001 16 16 Quaternion INT Quaternion Covariance - Q2 Covariance - Q2 RMS. Formatted value is RMS obtained using the formula: (formatted value) = RAWVAL*0.001 32 16 Quaternion Covariance RMS INT - Q3 Quaternion Covariance - Q3 RMS. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001 Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 107 Table 143: Angular Rate Covariance Telemetry Format ID 165 Frame Length (bytes) Description Angular rate covariance Channels Offset Length (bits) (bits) 0 16 Name 6 Data Description Type X Angular Rate INT Covariance X Angular Rate Covariance. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001 16 16 Y Angular Rate INT Covariance Y Angular Rate Covariance. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001 32 16 Z Angular Rate INT Covariance Z Angular Rate Covariance. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001 Table 144: Raw Cam2 Sensor Telemetry Format ID 166 Frame Length (bytes) Description Cam2 sensor capture and detection result Channels Offset Length (bits) (bits) 0 16 Cam2 centroid X INT Cam2 azimuth angle 16 16 Cam2 centroid Y INT Cam2 elevation angle 32 8 Capture status Name 6 Data Description Type ENUM Cam2 capture status. Possible values are in Table 145: CaptureResult Enumeration Values 40 8 Detection result ENUM Cam2 detection result. Possible values are in Table 146: DetectResult Enumeration Values Table 145: CaptureResult Enumeration Values Numeric Value Name Description 0 Startup Start-up 1 Pending Capture pending 2 SuccessOwn Successfully captured (own SRAM) 3 SuccessShift Successfully captured (Other SRAM) Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 108 4 Timeout Camera timout 5 SRAMError SRAM overcurrent Table 146: DetectResult Enumeration Values Numeric Value Name Description 0 Startup Start-up 1 NoDetect No detection scheduled 2 Pending Detection pending 3 TooManyEdges Nadir error - too many detected edges 4 TooFewEdges Nadir error - not enought edges detected 5 BadFit Nadir error - bad fit 6 SunNotFound Sun error - sun not found 7 Success Successful detection Table 147: Raw Cam1 Sensor Telemetry Format ID 167 Frame Length (bytes) Description Cam1 sensor capture and detection result Channels Offset Length (bits) (bits) 0 16 Cam1 centroid X INT Cam1 azimuth angle 16 16 Cam1 centroid Y INT Cam1 elevation angle 32 8 Capture status Name 6 Data Description Type ENUM Cam1 capture status. Possible values are in Table 145: CaptureResult Enumeration Values 40 8 Detection result ENUM Cam1 detection result. Possible values are in Table 146: DetectResult Enumeration Values Table 148: Raw CSS 1 to 6 Telemetry Format ID 168 Frame Length (bytes) Description Raw CSS measurements 1 to 6 Channels Offset Length (bits) (bits) 0 8 Name 6 Data Description Type CSS1 UINT sampled A/D value - corresponds to COS(sun_angle) 8 8 CSS2 UINT sampled A/D value - corresponds to COS(sun_angle) Part: Doc: Ver: Page: 16 8 CSS3 CubeADCS Reference Manual 3.10 109 UINT sampled A/D value - corresponds to COS(sun_angle) 24 8 CSS4 UINT sampled A/D value - corresponds to COS(sun_angle) 32 8 CSS5 UINT sampled A/D value - corresponds to COS(sun_angle) 40 8 CSS6 UINT sampled A/D value - corresponds to COS(sun_angle) Table 149: Raw CSS 7 to 10 Telemetry Format ID 169 Frame Length (bytes) Description Raw CSS measurements 7 to 10 Channels Offset Length (bits) (bits) 0 8 Name 6 Data Description Type CSS7 UINT sampled A/D value - corresponds to COS(sun_angle) 8 8 CSS8 UINT sampled A/D value - corresponds to COS(sun_angle) 16 8 CSS9 UINT sampled A/D value - corresponds to COS(sun_angle) 24 8 CSS10 UINT sampled A/D value - corresponds to COS(sun_angle) Table 150: Raw Magnetometer Telemetry Format ID 170 Frame Length (bytes) Description Raw magnetometer measurements Channels Offset Length (bits) (bits) 0 16 MagX INT sampled A/D value 16 16 MagY INT sampled A/D value 32 16 MagZ INT sampled A/D value Name 6 Data Description Type Table 151: CubeSense Current Measurements Telemetry Format ID 171 Frame Length (bytes) Description CubeSense current measurements Channels Offset Length (bits) (bits) Name 6 Data Type Description Part: Doc: Ver: Page: 0 16 CubeSense 3V3 CubeADCS Reference Manual 3.10 110 UINT Current CubeSense 3V3 Current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.1 16 16 CubeSense Cam2 UINT SRAM Current CubeSense Cam2 SRAM Current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.1 32 16 CubeSense Cam1 UINT SRAM Current CubeSense Cam1 SRAM Current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.1 Table 152: CubeControl Current Measurements Telemetry Format ID 172 Frame Length (bytes) Description CubeControl current measurements Channels Offset Length (bits) (bits) 0 16 Name 6 Data Description Type CubeControl 3V3 UINT Current CubeControl 3V3 Current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.48828125 16 16 CubeControl 5V UINT Current CubeControl 5V Current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.48828125 32 16 CubeControl Vbat UINT Current CubeControl Vbat Current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.48828125 Table 153: Wheel Currents Telemetry Format ID 173 Frame Length (bytes) Description XYZ Wheel current measurement Channels Offset Length (bits) (bits) 0 16 Name 6 Data Description Type Wheel1Current UINT Wheel1 Current. Formatted value is obtained using the formula: Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 111 (formatted value) [mA] = RAWVAL*0.01 16 16 Wheel2Current UINT Wheel2 Current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01 32 16 Wheel3Current UINT Wheel3 Current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01 Table 154: ADCS Temperatures Telemetry Format ID 174 Frame Length (bytes) Description Magnetometer + MCU temperature measurements Channels Offset Length (bits) (bits) 0 16 Name 6 Data Description Type MCU Temperature INT MCU Temperature. (Unit of measure is [C]) 16 16 Magnetometer INT Temperature Magnetometer Temperature. Formatted value is obtained using the formula: (formatted value) [C] = RAWVAL/10.0 32 16 Redundant INT Redundant Magnetometer Magnetometer Temperature. Formatted value is Temperature obtained using (formatted the value) formula: [C] = RAWVAL/10.0 Table 155: Rate sensor temperatures Telemetry Format ID 175 Frame Length (bytes) Description Rate sensor temperatures Channels Offset Length (bits) (bits) 0 16 Name 6 Data X-Rate Sensor INT Temperature 16 16 16 Y-Rate Sensor Z-Rate Temperature X-Rate sensor Temperature. (Unit of measure is [C]) INT Temperature 32 Description Type Y-Rate sensor Temperature. (Unit of measure is [C]) Sensor INT Z-Rate sensor Temperature. (Unit of measure is [C]) Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 112 Table 156: Raw GPS Status Telemetry Format ID 176 Frame Length (bytes) Description Raw GPS status Channels Offset Length (bits) (bits) 0 8 Name 6 Data Description Type Gps Solution Status ENUM GPS Solution Status. Possible values are in Table 157: GpsSolutionStatus Enumeration Values 8 8 Number of tracked UINT Number of tracked GPS satellites UINT Number of GPS satellites used in GPS satellites 16 8 Number of GPS satellites used in solution solution 24 8 Counter for XYZ Lof UINT Counter for XYZ Lof from GPS UINT Counter for RANGE log from GPS UINT Response Message for GPS log from GPS 32 8 Counter for RANGE log from GPS 40 8 Response Message for GPS log setup setup - p656 of OEMV615 reference manual Table 157: GpsSolutionStatus Enumeration Values Numeric Value Name Description 0 Solution computed Solution computed 1 Insufficient observations Insufficient observations 2 No convergence No convergence 3 Singularity at parameters matrix Singularity at parameters matrix 4 Covariance trace exceeds maximum Covariance trace exceeds maximum 5 Not yet converged from cold start Not yet converged from cold start 6 Height or velocity limits exceeded Height or velocity limits exceeded 7 Variance exceeds limits Variance exceeds limits 8 Large residuals make position Large residuals make position unreliable to Calculating comparison to user provided unreliable 9 Calculating comparison user provided 10 The fixed position is invalid The fixed position is invalid 11 Position type is unauthorized Position type is unauthorized Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 113 Table 158: Raw GPS Time Telemetry Format ID 177 Frame Length (bytes) Description Raw GPS time Channels Offset Length (bits) (bits) 0 16 Name 6 Data Description Type GPS Reference UINT GPS Reference Week UINT GPS Time Milliseconds. (Unit of Week 16 32 GPS Time Milliseconds measure is [ms]) Table 159: Raw GPS X Telemetry Format ID 178 Frame Length (bytes) Description Raw GPS X position and velocity (ECI referenced) Channels Offset Length (bits) (bits) 0 32 Name 6 Data Description Type ECEF Position X INT ECEF Position X. (Unit of measure is [m]) 32 16 ECEF Velocity X INT ECEF Velocity X. (Unit of measure is [m/s]) Table 160: Raw GPS Y Telemetry Format ID 179 Frame Length (bytes) Description Raw GPS Y position and velocity (ECI referenced) Channels Offset Length (bits) (bits) 0 32 Name 6 Data Description Type ECEF Position Y INT ECEF Position Y. (Unit of measure is [m]) 32 16 ECEF Velocity Y INT ECEF Velocity Y. (Unit of measure is [m/s]) Table 161: Raw GPS Z Telemetry Format ID 180 Frame Length (bytes) Description Raw GPS Z position and velocity (ECI referenced) Channels Offset Length (bits) (bits) 0 32 Name 6 Data Description Type ECEF Position Z INT ECEF Position Z. (Unit of measure is [m]) Part: Doc: Ver: Page: 32 16 ECEF Velocity Z CubeADCS Reference Manual 3.10 114 INT ECEF Velocity Z. (Unit of measure is [m/s]) Table 162: Star 1 Body Vector Telemetry Format ID 181 Frame Length (bytes) Description Star 1 Body Vector Channels Offset Length (bits) (bits) 0 16 Name 6 Data Description Type Star1BX INT Star1 body X-vector. Formatted value is obtained using the formula: (formatted value) = RAWVAL/10000.0 16 16 Star1BY INT Star1 body Y-vector. Formatted value is obtained using the formula: (formatted value) = RAWVAL/10000.0 32 16 Star1BZ INT Star1 body Z-vector. Formatted value is obtained formula: using (formatted the value) = RAWVAL/10000.0 Table 163: Star 2 Body Vector Telemetry Format ID 182 Description Star 2 Body Vector Frame Length (bytes) Channels Offset Length (bits) (bits) 0 16 Name 6 Data Description Type Star2BX INT Star2 body X-vector. Formatted value is obtained using the formula: (formatted value) = RAWVAL/10000.0 16 16 Star2BY INT Star2 body Y-vector. Formatted value is obtained using the formula: (formatted value) = RAWVAL/10000.0 32 16 Star2BZ INT Star2 body Z-vector. Formatted value is obtained formula: (formatted RAWVAL/10000.0 using value) the = Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 115 Table 164: Star 3 Body Vector Telemetry Format ID 183 Frame Length (bytes) Description Star 3 Body Vector Channels Offset Length (bits) (bits) 0 16 Name 6 Data Description Type Star3BX INT Star3 body X-vector. Formatted value is obtained using the formula: (formatted value) = RAWVAL/10000.0 16 16 Star3BY INT Star3 body Y-vector. Formatted value is obtained using the formula: (formatted value) = RAWVAL/10000.0 32 16 Star3BZ INT Star3 body Z-vector. Formatted value is obtained formula: using (formatted the value) = RAWVAL/10000.0 Table 165: Star 1 Orbit Vector Telemetry Format ID 184 Frame Length (bytes) Description Star 1 Orbit Vector Channels Offset Length (bits) (bits) 0 16 Name 6 Data Description Type Star1OX INT Star1 orbit X-vector. Formatted value is obtained using the formula: (formatted value) = RAWVAL/10000.0 16 16 Star1OY INT Star1 orbit Y-vector. Formatted value is obtained using the formula: (formatted value) = RAWVAL/10000.0 32 16 Star1OZ INT Star1 orbit Z-vector. Formatted value is obtained formula: (formatted RAWVAL/10000.0 Table 166: Star 2 Orbit Vector Telemetry Format ID 185 Description Star 2 Orbit Vector Frame Length (bytes) 6 using value) the = Part: Doc: Ver: Page: Channels Offset Length (bits) (bits) 0 16 Name CubeADCS Reference Manual 3.10 116 Data Description Type Star2OX INT Star2 orbit X-vector. Formatted value is obtained using the formula: (formatted value) = RAWVAL/10000.0 16 16 Star2OY INT Star2 orbit Y-vector. Formatted value is obtained using the formula: (formatted value) = RAWVAL/10000.0 32 16 Star2OZ INT Star2 orbit Z-vector. Formatted value is obtained formula: using (formatted the value) = RAWVAL/10000.0 Table 167: Star 3 Orbit Vector Telemetry Format ID 186 Frame Length (bytes) Description Star 3 Orbit Vector Channels Offset Length (bits) (bits) 0 16 Name 6 Data Description Type Star3OX INT Star3 orbit X-vector. Formatted value is obtained using the formula: (formatted value) = RAWVAL/10000.0 16 16 Star3OY INT Star3 orbit Y-vector. Formatted value is obtained using the formula: (formatted value) = RAWVAL/10000.0 32 16 Star3OZ INT Star3 orbit Z-vector. Formatted value is obtained formula: using (formatted the value) RAWVAL/10000.0 Table 168: Star Magnitude Telemetry Format ID 187 Frame Length (bytes) Description Instrument magnitude of identified stars Channels Offset Length (bits) (bits) 0 16 Magnitude Star 1 UINT Instrument magnitude of star 1 16 16 Magnitude Star 2 UINT Instrument magnitude of star 2 Name 6 Data Description Type = Part: Doc: Ver: Page: 32 16 Magnitude Star 3 CubeADCS Reference Manual 3.10 117 UINT Instrument magnitude of star 3 Table 169: Star Performance Telemetry Format ID 188 Frame Length (bytes) Description Performance parameters of star measurement Channels Offset Length (bits) (bits) 0 4 Name 6 Data Description Type Number of Star ENUM Detected Number of stars detected. Possible values are in Table 170: Stars Enumeration Values 4 4 Number of Stars ENUM Identified Number of stars identified. Possible values are in Table 170: Stars Enumeration Values 8 8 Star Noise UINT Noise level of star image 16 1 Attitude Success BOOL Attitude Success 17 1 Image Capture BOOL Image Capture Success Success 18 1 Detection Success BOOL Detection Success 19 1 Identification BOOL Identification Success Success 20 1 Loop time Error BOOL Loop time Error 21 1 Max Stars Detected BOOL Max Stars Detected 22 1 Less than three BOOL Less than three stars in FoV stars in FoV 23 1 Comms error BOOL Comms error 24 8 Star1 Confidence UINT Confidence factor of star 1 32 8 Star2 Confidence UINT Confidence factor of star 2 40 8 Star3 Confidence UINT Confidence factor of star 3 Table 170: Stars Enumeration Values Numeric Value Name Description 0 Zero Zero 1 One One 2 Two Two Table 171: Star Timing Telemetry Format ID 189 Frame Length (bytes) Description Timing information of star measurement 6 Part: Doc: Ver: Page: Channels Name CubeADCS Reference Manual 3.10 118 Offset Length Data Description (bits) (bits) 0 16 Capture UINT Capture. (Unit of measure is [ms]) 16 16 Detection UINT Detection. (Unit of measure is Type [ms]) 32 16 Identification UINT Identification. (Unit of measure is [ms]) Table 172: ADCS State Telemetry Format ID 190 Frame Length (bytes) Description Current ADCS state Channels Offset Length (bits) (bits) 0 4 Name 48 Data Description Type Attitude Estimation ENUM Mode Current attitude estimation mode. Possible values are in Table 27: EstimModeSelect Enumeration Values 4 4 Control Mode ENUM Current attitude control mode. Possible values are in Table 25: ConModeSelect Enumeration Values 8 2 ADCS Run Mode ENUM Current ADCS Running mode. Possible values are in Table 20: AdcsRunMode Enumeration Values 10 1 CubeControl Signal BOOL Enabled 11 1 CubeControl Motor CubeControl Signal electronics enabled status BOOL Enabled CubeControl Motor electronics enabled status 12 1 CubeSense Enabled BOOL CubeSense enabled status 13 1 CubeWheel1 BOOL CubeWheel1 enabled status BOOL CubeWheel2 enabled status BOOL CubeWheel3 enabled status Enabled 14 1 CubeWheel2 Enabled 15 1 CubeWheel3 Enabled 16 1 CubeStar Enabled BOOL CubeStar enabled status 17 1 GPS Receiver BOOL GPS Receiver enabled status BOOL GPS Antenna LNA enabled status Enabled 18 1 GPS LNA Power Enabled Part: Doc: Ver: Page: 19 1 Motor Driver CubeADCS Reference Manual 3.10 119 BOOL Enabled 20 1 Sun is Above Local status BOOL Horizon 21 1 CubeSense Motor Driver Electronics enabled Sun is above the local horizon (elevation > 0) BOOL Communications Communication error occurred with the CubeSense Error 22 23 24 1 1 1 CubeControl Signal BOOL Communication error occurred Communications with the CubeControl Signal Error MCU CubeControl Motor BOOL Communication error occurred Communications with the CubeControl Motor Error MCU CubeWheel1 BOOL Communications Communication error occurred with the CubeWheel1 Error 25 1 CubeWheel2 BOOL Communications Communication error occurred with the CubeWheel2 Error 26 1 CubeWheel3 BOOL Communications Communication error occurred with the CubeWheel3 Error 27 1 CubeStar BOOL Communications Communication error occurred with the CubeStar Error 28 1 Magnetometer BOOL Range Error Magnetometer measured magnetic field with size < 100 nT or >100,000nT 29 1 Cam1 Sensor BOOL Overcurrent Cam1 sensor overcurrent detected Detected 30 1 Cam1 Sensor Busy BOOL Error 31 1 Cam1 Sensor Cam1 sensor was not idle at the start of ADCS loop BOOL Detection Error Cam1 sensor was unable to compute angles (could be not in FOV) 32 1 Sun Sensor Range BOOL Error 33 1 Cam2 Sensor Overcurrent Detected Detected sun angles were outside of +/- 90 deg BOOL Cam2 sensor overcurrent detected Part: Doc: Ver: Page: 34 1 Cam2 Sensor Busy CubeADCS Reference Manual 3.10 120 BOOL Error 35 1 Cam2 Sensor Cam2 sensor was not idle at the start of ADCS loop BOOL Detection Error Cam2 sensor was unable to compute angles (could be not in FOV) 36 1 Nadir Sensor Range BOOL Error 37 1 Rate Sensor Range outside of +/- 60 deg BOOL Error 38 1 Wheel Speed Detected nadir angles were Measured XYZ-body rate is outside of the range +/-20 deg/s BOOL Range Error Wheel XYZ speed measurement was outside the range +/-8500 rpm 39 1 Coarse Sun Sensor BOOL Error 40 1 StarTracker Match vector (could be not in FOV) BOOL Error 41 1 Star Tracker Unable to compute Coarse Sun Unable to obtain enough matched stars BOOL Star tracker overcurrent detected BOOL Orbit Parameters are not in Overcurrent Detected 42 1 Orbit Parameters are Invalid allowed bounds (angle exceeding limits etc.). Failed to initialize SGP4 propagator using supplied parameters 43 1 Configuration is BOOL Invalid Magnetorquer Configuration or CSS in invalid. Each principle axis should have a torquer output (1,2, or 3) assigned. At least one CSS per principle axis needed 44 1 Control Mode BOOL Attempt was made to select Change is not control mode without allowed appropriate estimator, or command to set Y-momentum mode while not in steady-state Y-Thomson 45 1 Estimator Change is BOOL not allowed Attempt was made to change to an estimation mode that would be inapropriate for the current control mode 46 1 Modelled and BOOL Modelled and measured measured magnetic magnetic field differs in size by field differs in size more than 5000 nT Part: Doc: Ver: Page: 47 1 Node Recovery BOOL Error 48 16 CubeADCS Reference Manual 3.10 121 Failed to Recover an ADCS Node by successive resets Estimated Roll INT Angle Estimated roll angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01 64 16 Estimated Pitch INT Angle Estimated pitch angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01 80 16 Estimated Yaw INT Angle Estimated yaw angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01 96 16 Estimated q1 INT Estimated q1 112 16 Estimated q2 INT Estimated q2 128 16 Estimated q3 INT Estimated q3 144 16 Estimated X INT Estimated X angular rate. Angular Rate Formatted value is obtained using the formula: (formatted value) [deg/s] = RAWVAL*0.01 160 16 Estimated Y INT Angular Rate Estimated Y angular rate. Formatted value is obtained using the formula: (formatted value) [deg/s] = RAWVAL*0.01 176 16 Estimated Z Angular INT Rate Estimated Z angular Formatted value is rate. obtained using the formula: (formatted value) [deg/s] = RAWVAL*0.01 192 16 X position INT ECI referenced X coordinate . Formatted value is obtained using the formula: (formatted value) [km] = RAWVAL*0.25 208 16 Y position INT ECI referenced Y coordinate . Formatted value is obtained using the formula: (formatted value) [km] = RAWVAL*0.25 224 16 Z position INT ECI referenced Z coordinate . Formatted value is obtained using the formula: (formatted value) [km] = RAWVAL*0.25 240 16 X Velocity INT ECI referenced X velocity . Formatted value is obtained Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 122 using the formula: (formatted value) [m/s] = RAWVAL*0.25 256 16 Y Velocity INT ECI referenced Y velocity . Formatted value is obtained using the formula: (formatted value) [m/s] = RAWVAL*0.25 272 16 Z Velocity INT ECI referenced Formatted Z value velocity is . obtained using the formula: (formatted value) [m/s] = RAWVAL*0.25 288 16 Latitude INT WGS-84 Latitude angle . Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01 304 16 Longitude INT Longitude angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01 320 16 Altitude UINT WGS-84 altitude. value is obtained Formatted using the formula: (formatted value) [km] = RAWVAL*0.01 336 16 ECEF Position X INT ECEF Position X. (Unit of measure is [m]) 352 16 ECEF Position Y INT ECEF Position Y. (Unit of measure is [m]) 368 16 ECEF Position Z INT ECEF Position Z. (Unit of measure is [m]) Table 173: Parts of ADCS State telemetry frame (ID 190), requested using shorter telemetry requests ID 145 Partial Commands Current ADCS State - Length Bit Bit Overlapping ADCS Configuration (bytes) offset length Telecommand Parameters 6 0 4 Attitude Estimation Mode 4 4 Control Mode 8 2 ADCS Run Mode 10 1 CubeControl Signal Enabled 11 1 CubeControl Motor Enabled Table 123: Current ADCS State Telemetry Format Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 123 12 1 CubeSense Enabled 13 1 CubeWheel1 Enabled 14 1 CubeWheel2 Enabled 15 1 CubeWheel3 Enabled 16 1 CubeStar Enabled 17 1 GPS Receiver Enabled 18 1 GPS LNA Power Enabled 19 1 Motor Driver Enabled 20 1 Sun is Above Local Horizon 21 1 CubeSense Communications Error 22 1 CubeControl Signal Communications Error 23 1 CubeControl Motor Communications Error 24 1 CubeWheel1 Communications Error 25 1 CubeWheel2 Communications Error 26 1 CubeWheel3 Communications Error 27 1 CubeStar Communications Error 28 1 Magnetometer Range Error 29 1 Cam1 Sensor Overcurrent Detected 30 1 Cam1 Sensor Busy Error 31 1 Cam1 Sensor Detection Error 32 1 Sun Sensor Range Error 33 1 Cam2 Sensor Overcurrent Detected 34 1 Cam2 Sensor Busy Error 35 1 Cam2 Sensor Detection Error 36 1 Nadir Sensor Range Error 37 1 Rate Sensor Range Error 38 1 Wheel Speed Range Error 39 1 Coarse Sun Sensor Error 40 1 StarTracker Match Error 41 1 Star Tracker Overcurrent Detected 42 1 Orbit Parameters are Invalid 43 1 Configuration is Invalid 44 1 Control Mode Change is not allowed 45 1 Estimator Change is not allowed 46 1 Modelled and measured magnetic field differs in size 47 1 Node Recovery Error Part: Doc: Ver: Page: 146 Estimated Attitude 6 CubeADCS Reference Manual 3.10 124 48 16 Estimated Roll Angle 64 16 Estimated Pitch Angle 80 16 Estimated Yaw Angle 96 16 Estimated q1 112 16 Estimated q2 128 16 Estimated q3 144 16 Estimated X Angular Rate 160 16 Estimated Y Angular Rate 176 16 Estimated Z Angular Rate 192 16 X position 208 16 Y position 224 16 Z position 240 16 X Velocity 256 16 Y Velocity 272 16 Z Velocity 288 16 Latitude 304 16 Longitude 320 16 Altitude 336 16 ECEF Position X 352 16 ECEF Position Y Angles - Table 124: Estimated Attitude Angles Telemetry Format 218 Estimated Quaternion 6 - Table 199: Estimated Quaternion Telemetry Format 147 Estimated Angular 6 Rates - Table 125: Estimated Angular Rates Telemetry Format 148 Satellite Position (ECI) 6 - Table 126: Satellite Position (ECI) Telemetry Format 149 Satellite Velocity (ECI) 6 - Table 127: Satellite Velocity (ECI) Telemetry Format 150 Satellite Position (LLH) 6 - Table 128: Satellite Position (LLH) Telemetry Format 219 ECEF Position - Table 6 200: ECEF Position Telemetry Format Part: Doc: Ver: Page: 368 16 CubeADCS Reference Manual 3.10 125 ECEF Position Z Table 174: ADCS Measurements Telemetry Format ID 191 Frame Length (bytes) Description Calibrated sensor measurements Channels Offset Length (bits) (bits) 0 16 Name 72 Data Description Type Magnetic Field X INT Magnetic Field X. Formatted value is obtained using the formula: (formatted value) [uT] = RAWVAL*0.01 16 16 Magnetic Field Y INT Magnetic Field Y. Formatted value is obtained using the formula: (formatted value) [uT] = RAWVAL*0.01 32 16 Magnetic Field Z INT Magnetic Field Z. Formatted value is obtained using the formula: (formatted value) [uT] = RAWVAL*0.01 48 16 Coarse Sun X INT Coarse Sun X. Formatted value is obtained using the formula: (formatted value) = RAWVAL/10000.0 64 16 Coarse Sun Y INT Coarse Sun Y. Formatted value is obtained using the formula: (formatted value) = RAWVAL/10000.0 80 16 Coarse Sun Z INT Coarse Sun Z. Formatted value is obtained using (formatted the formula: value) = RAWVAL/10000.0 96 16 Sun X INT Sun X. Formatted value is obtained using the formula: (formatted value) = RAWVAL/10000.0 112 16 Sun Y INT Sun Y. Formatted value is obtained using the formula: (formatted value) = RAWVAL/10000.0 128 16 Sun Z INT Sun Z. obtained Formatted using the value is formula: Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 126 (formatted value) = RAWVAL/10000.0 144 16 Nadir X INT Nadir X. Formatted value is obtained using the formula: (formatted value) = RAWVAL/10000.0 160 16 Nadir Y INT Nadir Y. Formatted value is obtained using the formula: (formatted value) = RAWVAL/10000.0 176 16 Nadir Z INT Nadir Z. Formatted value is obtained using (formatted the formula: value) = RAWVAL/10000.0 192 16 X Angular Rate INT X Angular Rate. Formatted value is obtained using the formula: (formatted value) [deg/s] = RAWVAL*0.01 208 16 Y Angular Rate INT Y Angular Rate. Formatted value is obtained using the formula: (formatted value) [deg/s] = RAWVAL*0.01 224 16 Z Angular Rate INT Z Angular Rate. Formatted value is obtained using the formula: (formatted value) [deg/s] = RAWVAL*0.01 240 16 X Wheel Speed INT X Wheel Speed. (Unit of measure is [rpm]) 256 16 Y Wheel Speed INT Y Wheel Speed. (Unit of measure is [rpm]) 272 16 Z Wheel Speed INT Z Wheel Speed. (Unit of measure is [rpm]) 288 16 Star1BX INT Star1 body X-vector. Formatted value is obtained using the formula: (formatted value) = RAWVAL/10000.0 304 16 Star1BY INT Star1 body Y-vector. Formatted value is obtained using the formula: (formatted value) = RAWVAL/10000.0 320 16 Star1BZ INT Star1 body Z-vector. Formatted value is obtained using the Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 127 formula: (formatted value) = RAWVAL/10000.0 336 16 Star1OX INT Star1 orbit X-vector. Formatted value is obtained using the formula: (formatted value) = RAWVAL/10000.0 352 16 Star1OY INT Star1 orbit Y-vector. Formatted value is obtained using the formula: (formatted value) = RAWVAL/10000.0 368 16 Star1OZ INT Star1 orbit Z-vector. Formatted value is obtained formula: (formatted using the value) = RAWVAL/10000.0 384 16 Star2BX INT Star2 body X-vector. Formatted value is obtained using the formula: (formatted value) = RAWVAL/10000.0 400 16 Star2BY INT Star2 body Y-vector. Formatted value is obtained using the formula: (formatted value) = RAWVAL/10000.0 416 16 Star2BZ INT Star2 body Z-vector. Formatted value is obtained formula: (formatted using the value) = RAWVAL/10000.0 432 16 Star2OX INT Star2 orbit X-vector. Formatted value is obtained using the formula: (formatted value) = RAWVAL/10000.0 448 16 Star2OY INT Star2 orbit Y-vector. Formatted value is obtained using the formula: (formatted value) = RAWVAL/10000.0 464 16 Star2OZ INT Star2 orbit Z-vector. Formatted value is obtained formula: (formatted using the value) RAWVAL/10000.0 480 16 Star3BX INT Star3 body X-vector. Formatted value is obtained using the formula: (formatted value) = RAWVAL/10000.0 = Part: Doc: Ver: Page: 496 16 Star3BY INT CubeADCS Reference Manual 3.10 128 Star3 body Y-vector. Formatted value is obtained using the formula: (formatted value) = RAWVAL/10000.0 512 16 Star3BZ INT Star3 body Z-vector. Formatted value is obtained formula: (formatted using the value) = RAWVAL/10000.0 528 16 Star3OX INT Star3 orbit X-vector. Formatted value is obtained using the formula: (formatted value) = RAWVAL/10000.0 544 16 Star3OY INT Star3 orbit Y-vector. Formatted value is obtained using the formula: (formatted value) = RAWVAL/10000.0 560 16 Star3OZ INT Star3 orbit Z-vector. Formatted value is obtained formula: (formatted using the value) = RAWVAL/10000.0 Table 175: Parts of ADCS Measurements telemetry frame (ID 191), requested using shorter telemetry requests ID 151 Partial Commands Magnetic Field Vector Length Bit Bit Overlapping ADCS Configuration (bytes) offset length Telecommand Parameters 6 0 16 Magnetic Field X 16 16 Magnetic Field Y 32 16 Magnetic Field Z 48 16 Coarse Sun X 64 16 Coarse Sun Y 80 16 Coarse Sun Z 96 16 Sun X - Table 129: Magnetic Field Vector Telemetry Format 152 Coarse Sun Vector - 6 Table 130: Coarse Sun Vector Telemetry Format 153 Fine Sun Vector Table 131: Fine Sun Vector Telemetry Format 6 Part: Doc: Ver: Page: 154 Nadir Vector - Table 6 CubeADCS Reference Manual 3.10 129 112 16 Sun Y 128 16 Sun Z 144 16 Nadir X 160 16 Nadir Y 176 16 Nadir Z 192 16 X Angular Rate 208 16 Y Angular Rate 224 16 Z Angular Rate 240 16 X Wheel Speed 256 16 Y Wheel Speed 272 16 Z Wheel Speed 288 16 Star1BX 304 16 Star1BY 320 16 Star1BZ 336 16 Star1OX 352 16 Star1OY 368 16 Star1OZ 384 16 Star2BX 400 16 Star2BY 416 16 Star2BZ 432 16 Star2OX 448 16 Star2OY 464 16 Star2OZ 132: Nadir Vector Telemetry Format 155 Rate Sensor Rates - 6 Table 133: Rate Sensor Rates Telemetry Format 156 Wheel Speed - Table 6 134: Wheel Speed Telemetry Format 181 Star 1 Body Vector - 6 Table 162: Star 1 Body Vector Telemetry Format 184 Star 1 Orbit Vector - 6 Table 165: Star 1 Orbit Vector Telemetry Format 182 Star 2 Body Vector - 6 Table 163: Star 2 Body Vector Telemetry Format 185 Star 2 Orbit Vector - 6 Table 166: Star 2 Orbit Vector Telemetry Format Part: Doc: Ver: Page: 183 Star 3 Body Vector - 6 CubeADCS Reference Manual 3.10 130 480 16 Star3BX 496 16 Star3BY 512 16 Star3BZ 528 16 Star3OX 544 16 Star3OY 560 16 Star3OZ Table 164: Star 3 Body Vector Telemetry Format 186 Star 3 Orbit Vector - 6 Table 167: Star 3 Orbit Vector Telemetry Format Table 176: Actuator Commands Telemetry Format ID 192 Frame Length (bytes) Description Actuator commands Channels Offset Length (bits) (bits) 0 16 Name 12 Data Description Type X Magnetorquer INT Command X Magnetorquer Commanded on-time. (Unit of measure is [10ms units]) 16 16 Y Magnetorquer INT Command Y Magnetorquer Commanded on-time. (Unit of measure is [10ms units]) 32 16 Z Magnetorquer INT Command Z Magnetorquer Commanded on-time. (Unit of measure is [10ms units]) 48 16 X Wheel Speed INT X Wheel Speed. (Unit of measure is [rpm]) 64 16 Y Wheel Speed INT Y Wheel Speed. (Unit of measure is [rpm]) 80 16 Z Wheel Speed INT Z Wheel Speed. (Unit of measure is [rpm]) Table 177: Parts of Actuator Commands telemetry frame (ID 192), requested using shorter telemetry requests ID 157 Partial Commands Magnetorquer Command - Table Length Bit Bit Overlapping ADCS Configuration (bytes) offset length Telecommand Parameters 6 0 16 X Magnetorquer Command Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 131 135: Magnetorquer Command Telemetry Format 158 Wheel Speed 6 16 16 Y Magnetorquer Command 32 16 Z Magnetorquer Command 48 16 X Wheel Speed 64 16 Y Wheel Speed 80 16 Z Wheel Speed Commands - Table 136: Wheel Speed Commands Telemetry Format Table 178: Estimation Data Telemetry Format ID 193 Frame Length (bytes) Description Estimation meta-data Channels Offset Length (bits) (bits) 0 16 Name 42 Data Description Type IGRF Modelled INT Magnetic Field X IGRF Modelled Magnetic Field X. Formatted value is obtained using the formula: (formatted value) [uT] = RAWVAL*0.01 16 16 IGRF Modelled INT Magnetic Field Y IGRF Modelled Magnetic Field Y. Formatted value is obtained using the formula: (formatted value) [uT] = RAWVAL*0.01 32 16 IGRF Modelled INT Magnetic Field Z IGRF Modelled Magnetic Field Z. Formatted value is obtained using the formula: (formatted value) [uT] = RAWVAL*0.01 48 16 Modelled Sun INT Vector X Modelled Sun Vector X. Formatted value is obtained using the formula: (formatted value) = RAWVAL/10000.0 64 16 Modelled Sun INT Vector Y Modelled Sun Vector Y. Formatted value is obtained using the formula: (formatted value) = RAWVAL/10000.0 80 16 Modelled Vector Z Sun INT Modelled Sun Vector Z. Formatted value is obtained using Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 132 the formula: (formatted value) = RAWVAL/10000.0 96 16 Estimated X-gyro INT Bias Estimated X-gyro Bias. Formatted value is obtained using the formula: (formatted value) [deg/s] = RAWVAL*0.001 112 16 Estimated Y-gyro INT Bias Estimated Y-gyro Bias. Formatted value is obtained using the formula: (formatted value) [deg/s] = RAWVAL*0.001 128 16 Estimated Z-gyro INT Bias Estimated Z-gyro Bias. Formatted value is obtained using the formula: (formatted value) [deg/s] = RAWVAL*0.001 144 16 Innovation Vector X INT Innovation Vector X. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001 160 16 Innovation Vector Y INT Innovation Vector Y. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001 176 16 Innovation Vector Z INT Innovation Vector Z. Formatted value is obtained formula: (formatted using value) the = RAWVAL*0.0001 192 16 Quaternion Error - INT Q1 Quaternion Error - Q1. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001 208 16 Quaternion Error - INT Q2 Quaternion Error - Q2. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001 224 16 Quaternion Error - INT Q3 Quaternion Error - Q3. Formatted value is obtained formula: (formatted using value) RAWVAL*0.0001 240 16 Quaternion INT Quaternion Covariance - Q1 Covariance - Q1 RMS. Formatted value is RMS obtained using the formula: (formatted value) = RAWVAL*0.001 the = Part: Doc: Ver: Page: 256 16 Quaternion INT CubeADCS Reference Manual 3.10 133 Quaternion Covariance - Q2 Covariance - Q2 RMS. Formatted value is RMS obtained using the formula: (formatted value) = RAWVAL*0.001 272 16 Quaternion INT Covariance - Q3 Quaternion Covariance - Q3 RMS. Formatted value is obtained using RMS the formula: (formatted value) = RAWVAL*0.001 288 16 X Angular Rate INT Covariance X Angular Rate Covariance. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001 304 16 Y Angular Rate INT Covariance Y Angular Rate Covariance. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001 320 16 Z Angular Rate INT Covariance Z Angular Rate Covariance. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001 Table 179: Parts of Estimation Data telemetry frame (ID 193), requested using shorter telemetry requests ID 159 Partial Commands IGRF Modelled Length Bit Bit Overlapping ADCS Configuration (bytes) offset length Telecommand Parameters 6 0 16 IGRF Modelled Magnetic Field X 16 16 IGRF Modelled Magnetic Field Y 32 16 IGRF Modelled Magnetic Field Z 48 16 Modelled Sun Vector X 64 16 Modelled Sun Vector Y 80 16 Modelled Sun Vector Z Magnetic Field Vector - Table 137: IGRF Modelled Magnetic Field Vector Telemetry Format 160 Modelled Sun Vector 6 - Table 138: Modelled Sun Vector Telemetry Format Part: Doc: Ver: Page: 161 Estimated Gyro Bias - 6 CubeADCS Reference Manual 3.10 134 96 16 Estimated X-gyro Bias 112 16 Estimated Y-gyro Bias 128 16 Estimated Z-gyro Bias 144 16 Innovation Vector X 160 16 Innovation Vector Y 176 16 Innovation Vector Z 192 16 Quaternion Error - Q1 208 16 Quaternion Error - Q2 224 16 Quaternion Error - Q3 240 16 Quaternion Covariance - Q1 RMS 256 16 Quaternion Covariance - Q2 RMS 272 16 Quaternion Covariance - Q3 RMS 288 16 X Angular Rate Covariance 304 16 Y Angular Rate Covariance 320 16 Z Angular Rate Covariance Table 139: Estimated Gyro Bias Telemetry Format 162 Estimation Innovation 6 Vector - Table 140: Estimation Innovation Vector Telemetry Format 163 Quaternion Error 6 Vector - Table 141: Quaternion Error Vector Telemetry Format 164 Quaternion 6 Covariance - Table 142: Quaternion Covariance Telemetry Format 165 Angular Rate 6 Covariance - Table 143: Angular Rate Covariance Telemetry Format Table 180: Raw Sensor Measurements Telemetry Format ID 194 Frame Length (bytes) Description Raw sensor measurements Channels Offset Length (bits) (bits) 0 16 Name 28 Data Description Type Cam2 centroid X INT Cam2 azimuth angle Part: Doc: Ver: Page: 16 16 Cam2 centroid Y 32 8 Capture status CubeADCS Reference Manual 3.10 135 INT ENUM Cam2 elevation angle Cam2 capture status. Possible values are in Table 145: CaptureResult Enumeration Values 40 8 Detection result ENUM Cam2 detection result. Possible values are in Table 146: DetectResult Enumeration Values 48 16 Cam1 centroid X INT Cam1 azimuth angle 64 16 Cam1 centroid Y INT Cam1 elevation angle 80 8 Capture status ENUM Cam1 capture status. Possible values are in Table 145: CaptureResult Enumeration Values 88 8 Detection result ENUM Cam1 detection result. Possible values are in Table 146: DetectResult Enumeration Values 96 8 CSS1 UINT sampled A/D value corresponds to COS(sun_angle) 104 8 CSS2 UINT sampled A/D value corresponds to COS(sun_angle) 112 8 CSS3 UINT sampled A/D value corresponds to COS(sun_angle) 120 8 CSS4 UINT sampled A/D value corresponds to COS(sun_angle) 128 8 CSS5 UINT sampled A/D value corresponds to COS(sun_angle) 136 8 CSS6 UINT sampled A/D value - corresponds to COS(sun_angle) 144 8 CSS7 UINT sampled A/D value corresponds to COS(sun_angle) 152 8 CSS8 UINT sampled A/D value corresponds to COS(sun_angle) 160 8 CSS9 UINT sampled A/D value corresponds to COS(sun_angle) 168 8 CSS10 UINT sampled A/D value - corresponds to COS(sun_angle) 176 16 MagX INT sampled A/D value 192 16 MagY INT sampled A/D value 208 16 MagZ INT sampled A/D value Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 136 Table 181: Parts of Raw Sensor Measurements telemetry frame (ID 194), requested using shorter telemetry requests ID 166 Partial Commands Raw Cam2 Sensor - Length Bit Bit Overlapping ADCS Configuration (bytes) offset length Telecommand Parameters 6 0 16 Cam2 centroid X 16 16 Cam2 centroid Y 32 8 Capture status 40 8 Detection result 48 16 Cam1 centroid X 64 16 Cam1 centroid Y 80 8 Capture status 88 8 Detection result 96 8 CSS1 104 8 CSS2 112 8 CSS3 120 8 CSS4 128 8 CSS5 136 8 CSS6 144 8 CSS7 152 8 CSS8 160 8 CSS9 168 8 CSS10 176 16 MagX 192 16 MagY 208 16 MagZ Table 144: Raw Cam2 Sensor Telemetry Format 167 Raw Cam1 Sensor - 6 Table 147: Raw Cam1 Sensor Telemetry Format 168 Raw CSS 1 to 6 - Table 6 148: Raw CSS 1 to 6 Telemetry Format 169 Raw CSS 7 to 10 - 6 Table 149: Raw CSS 7 to 10 Telemetry Format 170 Raw Magnetometer - 6 Table 150: Raw Magnetometer Telemetry Format Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 137 Table 182: Power and Temperature Measurements Telemetry Format ID 195 Frame Length (bytes) Description Power and temperature measurements Channels Offset Length (bits) (bits) 0 16 Name 34 Data Description Type CubeSense 3V3 UINT Current CubeSense 3V3 Current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.1 16 16 CubeSense Cam2 UINT SRAM Current CubeSense Cam2 SRAM Current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.1 32 16 CubeSense Cam1 UINT SRAM Current CubeSense Cam1 SRAM Current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.1 48 16 CubeControl 3V3 UINT Current CubeControl 3V3 Current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.48828125 64 16 CubeControl 5V UINT Current CubeControl 5V Current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.48828125 80 16 CubeControl Vbat UINT Current CubeControl Vbat Current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.48828125 96 16 Wheel1Current UINT Wheel1 Current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01 112 16 Wheel2Current UINT Wheel2 Current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01 128 16 Wheel3Current UINT Wheel3 Current. Formatted value is obtained using the formula: Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 138 (formatted value) [mA] = RAWVAL*0.01 144 16 CubeStarCurrent UINT CubeStar Current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01 160 16 Magnetorquer UINT Current Magnetorquer Current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.1 176 16 MCU Temperature INT MCU Temperature. (Unit of measure is [C]) 192 16 Magnetometer INT Temperature Magnetometer Temperature. Formatted value is obtained using the formula: (formatted value) [C] = RAWVAL/10.0 208 16 Redundant INT Redundant Magnetometer Magnetometer Temperature. Formatted value is Temperature obtained using (formatted the value) formula: [C] = RAWVAL/10.0 224 16 X-Rate Sensor INT Temperature 240 16 of measure is [C]) Y-Rate Sensor INT Temperature 256 16 Z-Rate X-Rate sensor Temperature. (Unit Y-Rate sensor Temperature. (Unit of measure is [C]) Sensor INT Temperature Z-Rate sensor Temperature. (Unit of measure is [C]) Table 183: Parts of Power and Temperature Measurements telemetry frame (ID 195), requested using shorter telemetry requests ID 171 Partial Commands CubeSense Current Length Bit Bit Overlapping ADCS Configuration (bytes) offset length Telecommand Parameters 6 0 16 CubeSense 3V3 Current 16 16 CubeSense Cam2 SRAM Current 32 16 CubeSense Cam1 SRAM Current Measurements - Table 151: CubeSense Current Measurements Telemetry Format Part: Doc: Ver: Page: 172 CubeControl Current 6 CubeADCS Reference Manual 3.10 139 48 16 CubeControl 3V3 Current 64 16 CubeControl 5V Current 80 16 CubeControl Vbat Current 96 16 Wheel1Current 112 16 Wheel2Current 128 16 Wheel3Current 144 16 CubeStarCurrent 160 16 Magnetorquer Current 176 16 MCU Temperature 192 16 Magnetometer Temperature 208 16 Redundant Magnetometer 224 16 X-Rate Sensor Temperature 240 16 Y-Rate Sensor Temperature 256 16 Z-Rate Sensor Temperature Measurements - Table 152: CubeControl Current Measurements Telemetry Format 173 Wheel Currents - 6 Table 153: Wheel Currents Telemetry Format 198 ADCS Misc Current 6 Measurements - Table 186: ADCS Misc Current Measurements Telemetry Format 174 ADCS Temperatures - 6 Table 154: ADCS Temperatures Telemetry Format Temperature 175 Rate sensor 6 temperatures - Table 155: Rate sensor temperatures Telemetry Format Table 184: Adcs Execution Times Telemetry Format ID 196 Frame Length (bytes) Description Returns information about execution times of ACP functions Channels Offset Length (bits) (bits) Name 8 Data Type Description Part: Doc: Ver: Page: 0 16 Time to Perform CubeADCS Reference Manual 3.10 140 UINT ADCS Update Time to perform complete ADCS Update function. (Unit of measure is [ms]) 16 32 16 16 Time to Perform UINT Time to perform Sensor/actuator Sensor/Actuator communications. (Unit of Communications measure is [ms]) Time to Execute UINT SGP4 Propagator Time to execute SGP4 propagator. (Unit of measure is [ms]) 48 16 Time to Execute UINT IGRF Model Time to execute IGRF computation. (Unit of measure is [ms]) Table 185: ADCS Power Control Telemetry Format ID 197 Frame Length (bytes) Description Control power to selected components Channels Offset Length (bits) (bits) 0 2 Name 3 Data Description Type CubeControl Signal ENUM Power Selection Control power to electronics of CubeControl Signal PIC. Possible values are in Table 22: PowerSelect Enumeration Values 2 2 CubeControl Motor ENUM Power Selection Control power to electronics of CubeControl Motor PIC. Possible values are in Table 22: PowerSelect Enumeration Values 4 2 CubeSense Power ENUM Selection Control power to the CubeSense. Possible values are in Table 22: PowerSelect Enumeration Values 6 2 CubeStarPower ENUM Power Selection Control power to the CubeStar. Possible values are in Table 22: PowerSelect Enumeration Values 8 2 CubeWheel1Power ENUM Power Selection Control power to the CubeWheel1. Possible values are in Table 22: PowerSelect Enumeration Values 10 2 CubeWheel2Power Power Selection ENUM Control power to the CubeWheel2. Possible values are in Table 22: PowerSelect Enumeration Values Part: Doc: Ver: Page: 12 2 CubeWheel3Power CubeADCS Reference Manual 3.10 141 ENUM Power Selection Control power to the CubeWheel3. Possible values are in Table 22: PowerSelect Enumeration Values 14 2 Motor Power ENUM Control power to Motor electronics. Possible values are in Table 22: PowerSelect Enumeration Values 16 2 GPS Power ENUM Control power to GPS LNA. Possible values are in Table 22: PowerSelect Enumeration Values Table 186: ADCS Misc Current Measurements Telemetry Format ID 198 Frame Length (bytes) Description CubeStar and Torquer current measurements Channels Offset Length (bits) (bits) 0 16 Name 6 Data Description Type CubeStarCurrent UINT CubeStar Current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01 16 16 Magnetorquer UINT Current Magnetorquer Current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.1 Table 187: Commanded Attitude Angles Telemetry Format ID 199 Frame Length (bytes) Description Commanded attitude angles Channels Offset Length (bits) (bits) 0 16 Name 6 Data Description Type Commanded Roll INT Angle Commanded roll angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01 16 16 Commanded Pitch Angle INT Commanded pitch angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01 Part: Doc: Ver: Page: 32 16 Commanded Yaw CubeADCS Reference Manual 3.10 142 INT Angle Commanded yaw angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01 Table 188: Tracking Controller Target Reference Telemetry Format ID 200 Frame Length (bytes) Description Target reference for tracking control mode Channels Offset Length (bits) (bits) 0 32 Name 12 Data Type Geocentric FLOAT longitude of target 32 32 Geocentric latitude 32 Geocentric altitude Geocentric longitude of target. (Unit of measure is [deg]) FLOAT of target 64 Description Geocentric latitude of target. (Unit of measure is [deg]) FLOAT of target Geocentric altitude of target. (Unit of measure is [meter]) Table 189: ADCS Configuration Telemetry Format ID 206 Frame Length (bytes) Description Current configuration Channels Offset Length (bits) (bits) 0 8 Name 272 Data Description Type Magnetorquer 1 ENUM Configuration Magnetorquer 1 Configuration. Possible values are in Table 34: AxisSelect Enumeration Values 8 8 Magnetorquer 2 ENUM Configuration Magnetorquer 2 Configuration. Possible values are in Table 34: AxisSelect Enumeration Values 16 8 Magnetorquer 3 ENUM Configuration Magnetorquer 3 Configuration. Possible values are in Table 34: AxisSelect Enumeration Values 24 8 RW1 Configuration ENUM RW1 Configuration. Possible values are in Table 34: AxisSelect Enumeration Values 32 8 RW2 Configuration ENUM RW2 Configuration. Possible values are in Table 34: AxisSelect Enumeration Values 40 8 RW3 Configuration ENUM RW3 Configuration. Possible values are in Table 34: AxisSelect Enumeration Values Part: Doc: Ver: Page: 48 8 RW4 Configuration CubeADCS Reference Manual 3.10 143 ENUM RW4 Configuration. Possible values are in Table 34: AxisSelect Enumeration Values 56 8 Gyro1 ENUM Configuration Gyro1 Configuration. Possible values are in Table 34: AxisSelect Enumeration Values 64 8 Gyro2 ENUM Configuration Gyro2 Configuration. Possible values are in Table 34: AxisSelect Enumeration Values 72 8 Gyro3 ENUM Configuration Gyro3 Configuration. Possible values are in Table 34: AxisSelect Enumeration Values 80 8 CSS1 Configuration ENUM CSS1 Configuration. Possible values are in Table 34: AxisSelect Enumeration Values 88 8 CSS2 Configuration ENUM CSS2 Configuration. Possible values are in Table 34: AxisSelect Enumeration Values 96 8 CSS3 Configuration ENUM CSS3 Configuration. Possible values are in Table 34: AxisSelect Enumeration Values 104 8 CSS4 Configuration ENUM CSS4 Configuration. Possible values are in Table 34: AxisSelect Enumeration Values 112 8 CSS5 Configuration ENUM CSS5 Configuration. Possible values are in Table 34: AxisSelect Enumeration Values 120 8 CSS6 Configuration ENUM CSS6 Configuration. Possible values are in Table 34: AxisSelect Enumeration Values 128 8 CSS7 Configuration ENUM CSS7 Configuration. Possible values are in Table 34: AxisSelect Enumeration Values 136 8 CSS8 Configuration ENUM CSS8 Configuration. Possible values are in Table 34: AxisSelect Enumeration Values 144 8 CSS9 Configuration ENUM CSS9 Configuration. Possible values are in Table 34: AxisSelect Enumeration Values 152 8 CSS10 Configuration ENUM CSS10 Configuration. Possible values are in Table 34: AxisSelect Enumeration Values Part: Doc: Ver: Page: 160 8 CSS1 Relative Scale CubeADCS Reference Manual 3.10 144 UINT CSS1 Relative Scaling Factor. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.01 168 8 CSS2 Relative Scale UINT CSS2 Relative Scaling Factor. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.01 176 8 CSS3 Relative Scale UINT CSS3 Relative Scaling Factor. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.01 184 8 CSS4 Relative Scale UINT CSS4 Relative Scaling Factor. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.01 192 8 CSS5 Relative Scale UINT CSS5 Relative Scaling Factor. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.01 200 8 CSS6 Relative Scale UINT CSS6 Relative Scaling Factor. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.01 208 8 CSS7 Relative Scale UINT CSS7 Relative Scaling Factor. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.01 216 8 CSS8 Relative Scale UINT CSS8 Relative Scaling Factor. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.01 224 8 CSS9 Relative Scale UINT CSS9 Relative Scaling Factor. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.01 232 8 CSS10 Relative UINT Scale CSS10 Relative Scaling Factor. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.01 240 8 CSS Threshold UINT 248 16 Cam1 Sensor INT Mounting CSS Threshold Cam1 Sensor Mounting Transform Alpha Angle. Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 145 Transform Alpha Formatted value is obtained Angle using the formula: (formatted value) [deg] = RAWVAL*0.01 264 16 Cam1 Sensor INT Cam1 Sensor Mounting Mounting Transform Beta Angle. Formatted Transform Beta value is obtained using the Angle formula: (formatted value) [deg] = RAWVAL*0.01 280 16 Cam1 Sensor INT Cam1 Sensor Mounting Mounting Transform Gamma Angle. Transform Gamma Formatted value is obtained Angle using the formula: (formatted value) [deg] = RAWVAL*0.01 296 8 Cam1 detection UINT threshold 304 1 Cam1 sensor auto BOOL 0 = disabled and 1 = enabled UINT exposure time register value UINT X Pixel location of Cam1 adjust mode 312 16 Cam1 sensor exposure time 328 16 Cam1 Boresight X boresight. Formatted value is obtained using the formula: (formatted value) [pixels] = RAWVAL*0.01 344 16 Cam1 Boresight Y UINT Y Pixel location of Cam1 boresight. Formatted value is obtained using the formula: (formatted value) [pixels] = RAWVAL*0.01 360 1 Cam1 Shift BOOL Use Cam2 processing chain for Cam1 detection 368 16 Cam2 Sensor INT Cam2 Sensor Mounting Mounting Transform Alpha Angle. Transform Alpha Formatted value is obtained Angle using the formula: (formatted value) [deg] = RAWVAL*0.01 384 16 Cam2 Sensor INT Cam2 Sensor Mounting Mounting Transform Beta Angle. Formatted Transform Beta value is obtained using the Angle formula: (formatted value) [deg] = RAWVAL*0.01 400 16 Cam2 Sensor Mounting INT Cam2 Sensor Mounting Transform Gamma Angle. Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 146 Transform Gamma Formatted value is obtained Angle using the formula: (formatted value) [deg] = RAWVAL*0.01 416 8 Cam2 detection UINT Cam2 detection threshold BOOL 0 = disabled and 1 = enabled UINT exposure time register value UINT X Pixel location of Cam2 threshold 424 1 Cam2 sensor auto adjust mode 432 16 Cam2 sensor exposure time 448 16 Cam2 Boresight X boresight. Formatted value is obtained using the formula: (formatted value) [pixels] = RAWVAL*0.01 464 16 Cam2 Boresight Y UINT Y Pixel location of Cam2 boresight. Formatted value is obtained using the formula: (formatted value) [pixels] = RAWVAL*0.01 480 1 Cam2 Shift BOOL Use Sun processing chain for Cam2 detection 488 16 Minimum X of area UINT Minimum X of Area 1 UINT Maximum X of Area 1 UINT Minimum Y of Area 1 UINT Maximum Y of Area 1 UINT Minimum X of Area 2 UINT Maximum X of Area 2 UINT Minimum Y of Area 2 UINT Maximum Y of Area 2 UINT Minimum X of Area 3 UINT Maximum X of Area 3 1 504 16 Maximum X of area 1 520 16 Minimum Y of area 1 536 16 Maximum Y of area 1 552 16 Minimum X of area 2 568 16 Maximum X of area 2 584 16 Minimum Y of area 2 600 16 Maximum Y of area 2 616 16 Minimum X of area 3 632 16 Maximum X of area 3 Part: Doc: Ver: Page: 648 16 Minimum Y of area CubeADCS Reference Manual 3.10 147 UINT Minimum Y of Area 3 UINT Maximum Y of Area 3 UINT Minimum X of Area 4 UINT Maximum X of Area 4 UINT Minimum Y of Area 4 UINT Maximum Y of Area 4 UINT Minimum X of Area 5 UINT Maximum X of Area 5 UINT Minimum Y of Area 5 UINT Maximum Y of Area 5 3 664 16 Maximum Y of area 3 680 16 Minimum X of area 4 696 16 Maximum X of area 4 712 16 Minimum Y of area 4 728 16 Maximum Y of area 4 744 16 Minimum X of area 5 760 16 Maximum X of area 5 776 16 Minimum Y of area 5 792 16 Maximum Y of area 5 808 16 Magnetometer INT Magnetometer Mounting Mounting Transform Alpha Angle. Transform Alpha Formatted value is obtained Angle using the formula: (formatted value) [deg] = RAWVAL*0.01 824 16 Magnetometer INT Magnetometer Mounting Mounting Transform Beta Angle. Formatted Transform Beta value is obtained using the Angle formula: (formatted value) [deg] = RAWVAL*0.01 840 16 Magnetometer INT Magnetometer Mounting Mounting Transform Gamma Angle. Transform Gamma Formatted value is obtained Angle using the formula: (formatted value) [deg] = RAWVAL*0.01 856 16 Magnetometer INT Channel 1 Offset Magnetometer Channel 1 Offset. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001 872 16 Magnetometer Channel 2 Offset INT Magnetometer Channel 2 Offset. Formatted value is obtained Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 148 using the formula: (formatted value) = RAWVAL*0.001 888 16 Magnetometer INT Channel 3 Offset Magnetometer Channel 3 Offset. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001 904 16 Magnetometer INT Magnetometer Sensitivity Matrix Sensitivity Matrix S11. Formatted value is obtained S11 using the formula: (formatted value) = RAWVAL*0.001 920 16 Magnetometer INT Magnetometer Sensitivity Matrix Sensitivity Matrix S22. Formatted value is obtained S22 using the formula: (formatted value) = RAWVAL*0.001 936 16 Magnetometer INT Magnetometer Sensitivity Matrix Sensitivity Matrix S33. Formatted value is obtained S33 using the formula: (formatted value) = RAWVAL*0.001 952 16 Magnetometer INT Magnetometer Sensitivity Matrix Sensitivity Matrix S12. Formatted value is obtained S12 using the formula: (formatted value) = RAWVAL*0.001 968 16 Magnetometer INT Magnetometer Sensitivity Matrix Sensitivity Matrix S13. Formatted value is obtained S13 using the formula: (formatted value) = RAWVAL*0.001 984 16 Magnetometer INT Magnetometer Sensitivity Matrix Sensitivity Matrix S21. Formatted value is obtained S21 using the formula: (formatted value) = RAWVAL*0.001 1000 16 Magnetometer INT Magnetometer Sensitivity Matrix Sensitivity Matrix S23. Formatted value is obtained S23 using the formula: (formatted value) = RAWVAL*0.001 1016 16 Magnetometer INT Magnetometer Sensitivity Matrix Sensitivity Matrix S31. Formatted value is obtained S31 using the formula: (formatted value) = RAWVAL*0.001 1032 16 Magnetometer INT Magnetometer Sensitivity Matrix Sensitivity Matrix S32. Formatted value is obtained S32 using the formula: (formatted value) = RAWVAL*0.001 Part: Doc: Ver: Page: 1048 16 X-Rate Sensor CubeADCS Reference Manual 3.10 149 INT Offset X-Rate Sensor Offset. Formatted value is obtained using the formula: (formatted value) [deg/s] = RAWVAL*0.001 1064 16 Y-Rate Sensor INT Offset Y-Rate Sensor Offset. Formatted value is obtained using the formula: (formatted value) [deg/s] = RAWVAL*0.001 1080 16 Z-Rate Sensor INT Offset Z-Rate Sensor Offset. Formatted value is obtained using the formula: (formatted value) [deg/s] = RAWVAL*0.001 1096 8 RateSensorMult UINT Multiplier of rate sensor measurement 1104 16 StarTracker INT StarTracker Mounting Transform Mounting Alpha Angle. Formatted value is Transform Alpha obtained using the formula: Angle (formatted value) [deg] = RAWVAL*0.01 1120 16 StarTracker INT StarTracker Mounting Transform Mounting Beta Angle. Formatted value is Transform Beta obtained using the formula: Angle (formatted value) [deg] = RAWVAL*0.01 1136 16 StarTracker INT StarTracker Mounting Transform Mounting Gamma Angle. Formatted value Transform Gamma is obtained using the formula: Angle (formatted value) [deg] = RAWVAL*0.01 1152 16 StarTracker UINT exposure time register value UINT StarTracker detection threshold UINT StarTracker star threshold UINT Maximum of stars that the star exposure time 1168 8 StarTracker detection threshold 1176 8 StarTracker star threshold 1184 8 Maximum Star Matched tracker will match 1192 8 Maximum Star Pixel UINT Maximum pixels in a star 1200 8 Maximum Star UINT Maximum star pixel noise UINT Minimum pixels in a star Noise 1208 8 Minimum Star Pixel Part: Doc: Ver: Page: 1216 8 Star Tracker Error CubeADCS Reference Manual 3.10 150 UINT Margin % Error margin of the star identification. Formatted value is obtained using the formula: (formatted value) [%] = RAWVAL*0.01 1224 32 Star Tracker FLOAT Pixel centroid X FLOAT Pixel centroid Y Centroid X 1256 32 Star Tracker Centroid Y 1288 16 Star Tracker Focal UINT Length Star Tracker Focal Length. Formatted value is obtained using the formula: (formatted value) [mm] = RAWVAL*0.0001 1304 8 Synch Delay UINT Synchronization delay within star Tracker 1312 32 Detumbling Spin FLOAT Detumbling Spin Gain (Ks) FLOAT Detumbling Damping Gain (Kd) Gain 1344 32 Detumbling Damping Gain 1376 16 Reference spin rate INT Reference spin rate (wy-ref). Must always be smaller than 0. Formatted value is obtained using the formula: (formatted value) [deg/s] = RAWVAL*0.001 1392 32 Fast BDot FLOAT Fast BDot Detumbling Gain (Kdf) FLOAT Y-Momentum Control Gain (Kh) FLOAT Y-momentum Nutation Damping Detumbling Gain 1424 32 Y-Momentum Control Gain 1456 32 Y-momentum Nutation Damping Gain (Kn) Gain 1488 32 Y-momentum FLOAT Proportional Gain 1520 32 Y-momentum (Kp1) FLOAT Derivative Gain 1552 32 Reference Wheel Y-momentum Proportional Gain Y-momentum Derivative Gain (Kd1) FLOAT Momentum Reference Wheel Momentum (Href). Must always be smaller than 0. (Unit of measure is [Nms]) 1584 32 RWheel FLOAT RWheel Proportional Gain (Kp2) FLOAT RWheel Derivative Gain (Kd2) Proportional Gain 1616 32 RWheel Derivative Gain Part: Doc: Ver: Page: 1648 32 Tracking CubeADCS Reference Manual 3.10 151 FLOAT Tracking Proportional Gain (Kp3) FLOAT Tracking Derivative Gain (Kd3) FLOAT Tracking Integral Gain (Ki3) FLOAT Moment Of Inertia - Ixx. (Unit of Proportional Gain 1680 32 Tracking Derivative Gain 1712 32 Tracking Integral Gain 1744 32 Moment Of Inertia - Ixx 1776 32 Moment Of Inertia measure is [kg.m^2]) FLOAT - Iyy 1808 32 Moment Of Inertia measure is [kg.m^2]) FLOAT - Izz 1840 32 Moment Of Inertia 32 Moment Of Inertia FLOAT 32 Moment Of Inertia FLOAT 32 Magnetometer Moment Of Inertia - Ixz. (Unit of measure is [kg.m^2]) FLOAT - Iyz 1936 Moment Of Inertia - Ixy. (Unit of measure is [kg.m^2]) - Ixz 1904 Moment Of Inertia - Izz. (Unit of measure is [kg.m^2]) - Ixy 1872 Moment Of Inertia - Iyy. (Unit of Moment Of Inertia - Iyz. (Unit of measure is [kg.m^2]) FLOAT Rate Filter System Magnetometer Rate Filter System Noise Noise 1968 32 EKF System Noise FLOAT EKF System Noise 2000 32 CSS Measurement FLOAT CSS Measurement Noise FLOAT Sun Sensor Measurement Noise FLOAT Nadir Sensor Measurement Noise 2032 32 Sun Sensor Measurement Noise 2064 32 Nadir Sensor Measurement Noise Noise 2096 32 Magnetometer FLOAT Measurement Magnetometer Measurement Noise Noise 2128 32 Star Tracker FLOAT Star Tracker Measurement Noise BOOL Use Sun Sensor measurement in Measurement Noise 2160 1 Use Sun Sensor EKF 2161 1 Use Nadir Sensor BOOL Use Nadir Sensor measurement in EKF 2162 1 Use CSS BOOL Use CSS measurement in EKF Part: Doc: Ver: Page: 2163 1 Use Star Tracker CubeADCS Reference Manual 3.10 152 BOOL Use Star Tracker measurement in EKF 2164 2 Magnetometer ENUM Mode Mode describing which magnetometer is used for estimation and control. Possible values are in Table 35: MagModeVal Enumeration Values 2168 8 Cam1 and Cam2 UINT Sampling Period Cam1 and Cam2 sensor sampling period. Lower four bits are Cam1 period and upper four bits the Cam2 period. Setting period to zero for sensor will disable sampling of sensor.. (Unit of measure is [s]) Table 190: SGP4 Orbit Parameters Telemetry Format ID 207 Frame Length (bytes) Description SGP4 Orbit Parameters Channels Offset Length (bits) (bits) 0 64 Name 64 Data Description Type Inclination DOUBLE Inclination. (Unit of measure is [deg]) 64 64 Eccentricity DOUBLE Eccentricity 128 64 Right-ascension of DOUBLE Right-ascension of the 192 64 the Ascending Ascending Node. (Unit of Node measure is [deg]) Argument of DOUBLE Perigee Argument of Perigee. (Unit of measure is [deg]) 256 64 B-Star drag term DOUBLE B-Star drag term 320 64 Mean Motion DOUBLE Mean Motion. (Unit of measure is [orbits/day]) 384 64 Mean Anomaly DOUBLE Mean Anomaly. (Unit of measure is [deg]) 448 64 Epoch DOUBLE Epoch (year.day). measure is [year.day]) Table 191: Raw GPS Measurements Telemetry Format ID 210 Frame Length (bytes) Description Raw GPS measurements 36 (Unit of Part: Doc: Ver: Page: Channels Offset Length (bits) (bits) 0 8 Name CubeADCS Reference Manual 3.10 153 Data Description Type Gps Solution Status ENUM GPS Solution Status. Possible values are in Table 157: GpsSolutionStatus Enumeration Values 8 8 Number of tracked UINT Number of tracked GPS satellites UINT Number of GPS satellites used in GPS satellites 16 8 Number of GPS satellites used in solution solution 24 8 Counter for XYZ Lof UINT Counter for XYZ Lof from GPS UINT Counter for RANGE log from GPS UINT Response Message for GPS log from GPS 32 8 Counter for RANGE log from GPS 40 8 Response Message for GPS log setup setup - p656 of OEMV615 reference manual 48 16 GPS Reference UINT GPS Reference Week UINT GPS Time Milliseconds. (Unit of Week 64 32 GPS Time Milliseconds 96 32 ECEF Position X measure is [ms]) INT ECEF Position X. (Unit of measure is [m]) 128 16 ECEF Velocity X INT ECEF Velocity X. (Unit of measure is [m/s]) 144 32 ECEF Position Y INT ECEF Position Y. (Unit of measure is [m]) 176 16 ECEF Velocity Y INT ECEF Velocity Y. (Unit of measure is [m/s]) 192 32 ECEF Position Z INT ECEF Position Z. (Unit of measure is [m]) 224 16 ECEF Velocity Z INT ECEF Velocity Z. (Unit of measure is [m/s]) 240 8 X-pos Standard UINT Deviation X-pos Standard Deviation. Formatted value is obtained using the formula: (formatted value) [m] = RAWVAL*0.1 248 8 Y-pos Standard Deviation UINT Y-pos Standard Deviation. Formatted value is obtained using the formula: (formatted value) [m] = RAWVAL*0.1 Part: Doc: Ver: Page: 256 8 Z-pos Standard CubeADCS Reference Manual 3.10 154 UINT Deviation Z-pos Standard Deviation. Formatted value is obtained using the formula: (formatted value) [m] = RAWVAL*0.1 264 8 X-vel Standard UINT Deviation 272 8 of measure is [m/s]) Y-vel Standard UINT Deviation 280 8 Z-vel X-vel Standard Deviation. (Unit Y-vel Standard Deviation. (Unit of measure is [m/s]) Standard UINT Deviation Z-vel Standard Deviation. (Unit of measure is [m/s]) Table 192: Parts of Raw GPS Measurements telemetry frame (ID 210), requested using shorter telemetry requests ID 176 Partial Commands Raw GPS Status - Length Bit Bit Overlapping ADCS Configuration (bytes) offset length Telecommand Parameters 6 0 8 Gps Solution Status 8 8 Number of tracked GPS satellites 16 8 Number of GPS satellites used in Table 156: Raw GPS Status Telemetry Format solution 24 8 Counter for XYZ Lof from GPS 32 8 Counter for RANGE log from GPS 40 8 Response Message for GPS log setup 177 Raw GPS Time - Table 6 48 16 GPS Reference Week 64 32 GPS Time Milliseconds 96 32 ECEF Position X 128 16 ECEF Velocity X 144 32 ECEF Position Y 176 16 ECEF Velocity Y 192 32 ECEF Position Z 158: Raw GPS Time Telemetry Format 178 Raw GPS X - Table 6 159: Raw GPS X Telemetry Format 179 Raw GPS Y - Table 6 160: Raw GPS Y Telemetry Format 180 Raw GPS Z - Table 161: Raw GPS Z Telemetry Format 6 Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 155 224 16 ECEF Velocity Z 240 8 X-pos Standard Deviation 248 8 Y-pos Standard Deviation 256 8 Z-pos Standard Deviation 264 8 X-vel Standard Deviation 272 8 Y-vel Standard Deviation 280 8 Z-vel Standard Deviation Table 193: Raw Star Tracker Telemetry Format ID 211 Frame Length (bytes) Description Raw Star Tracker Measurement Channels Offset Length (bits) (bits) 0 4 Name 36 Data Description Type Number of Star ENUM Detected Number of stars detected. Possible values are in Table 170: Stars Enumeration Values 4 4 Number of Stars ENUM Identified Number of stars identified. Possible values are in Table 170: Stars Enumeration Values 8 8 Star Noise UINT Noise level of star image 16 1 Attitude Success BOOL Attitude Success 17 1 Image Capture BOOL Image Capture Success Success 18 1 Detection Success BOOL Detection Success 19 1 Identification BOOL Identification Success Success 20 1 Loop time Error BOOL Loop time Error 21 1 Max Stars Detected BOOL Max Stars Detected 22 1 Less than three BOOL Less than three stars in FoV stars in FoV 23 1 Comms error BOOL Comms error 24 8 Star1 Confidence UINT Confidence factor of star 1 32 8 Star2 Confidence UINT Confidence factor of star 2 40 8 Star3 Confidence UINT Confidence factor of star 3 48 16 Magnitude Star 1 UINT Instrument magnitude of star 1 64 16 Magnitude Star 2 UINT Instrument magnitude of star 2 80 16 Magnitude Star 3 UINT Instrument magnitude of star 3 96 16 Catalogue Star 1 UINT Catalogue number of star 1 112 16 Centroid X Star 1 INT X centroid of star 1 128 16 Centroid Y Star 1 INT Y centroid of star 1 Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 156 144 16 Catalogue Star 2 UINT 160 16 Centroid X Star 2 INT X centroid of star 2 176 16 Centroid Y Star 2 INT Y centroid of star 2 192 16 Catalogue Star 3 UINT 208 16 Centroid X Star 3 INT X centroid of star 3 224 16 Centroid Y Star 3 INT Y centroid of star 3 240 16 Capture UINT Catalogue number of star 2 Catalogue number of star 3 Capture. (Unit of measure is [ms]) 256 16 Detection UINT Detection. (Unit of measure is [ms]) 272 16 Identification UINT Identification. (Unit of measure is [ms]) Table 194: Parts of Raw Star Tracker telemetry frame (ID 211), requested using shorter telemetry requests ID 188 Partial Commands Star Performance - Length Bit Bit Overlapping ADCS Configuration (bytes) offset length Telecommand Parameters 6 0 4 Number of Star Detected 4 4 Number of Stars Identified 8 8 Star Noise 16 1 Attitude Success 17 1 Image Capture Success 18 1 Detection Success 19 1 Identification Success 20 1 Loop time Error 21 1 Max Stars Detected 22 1 Less than three stars in FoV 23 1 Comms error 24 8 Star1 Confidence 32 8 Star2 Confidence 40 8 Star3 Confidence 48 16 Magnitude Star 1 64 16 Magnitude Star 2 80 16 Magnitude Star 3 Table 169: Star Performance Telemetry Format 187 Star Magnitude - 6 Table 168: Star Magnitude Telemetry Format Part: Doc: Ver: Page: 212 Star 1 Raw Data - 6 CubeADCS Reference Manual 3.10 157 96 16 Catalogue Star 1 112 16 Centroid X Star 1 128 16 Centroid Y Star 1 144 16 Catalogue Star 2 160 16 Centroid X Star 2 176 16 Centroid Y Star 2 192 16 Catalogue Star 3 208 16 Centroid X Star 3 224 16 Centroid Y Star 3 240 16 Capture 256 16 Detection 272 16 Identification Table 195: Star 1 Raw Data Telemetry Format 213 Star 2 Raw Data - 6 Table 196: Star 2 Raw Data Telemetry Format 214 Star 3 Raw Data - 6 Table 197: Star 3 Raw Data Telemetry Format 189 Star Timing - Table 6 171: Star Timing Telemetry Format Table 195: Star 1 Raw Data Telemetry Format ID 212 Frame Length (bytes) Description Catalogue index and detected coordinates for star 1 Channels Offset Length (bits) (bits) 0 16 Catalogue Star 1 UINT 16 16 Centroid X Star 1 INT X centroid of star 1 32 16 Centroid Y Star 1 INT Y centroid of star 1 Name 6 Data Description Type Catalogue number of star 1 Table 196: Star 2 Raw Data Telemetry Format ID 213 Frame Length (bytes) Description Catalogue index and detected coordinates for star 2 Channels Offset Length (bits) (bits) 0 16 Name 6 Data Description Type Catalogue Star 2 UINT Catalogue number of star 2 Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 158 16 16 Centroid X Star 2 INT X centroid of star 2 32 16 Centroid Y Star 2 INT Y centroid of star 2 Table 197: Star 3 Raw Data Telemetry Format ID 214 Frame Length (bytes) Description Catalogue index and detected coordinates for star 3 Channels Offset Length (bits) (bits) 0 16 Catalogue Star 3 UINT 16 16 Centroid X Star 3 INT X centroid of star 3 32 16 Centroid Y Star 3 INT Y centroid of star 3 Name 6 Data Description Type Catalogue number of star 3 Table 198: Redundant Magnetometer Raw Measurements Telemetry Format ID 215 Frame Length (bytes) Description Redundant Magnetometer raw measurements Channels Offset Length (bits) (bits) 0 16 MagX INT sampled A/D value 16 16 MagY INT sampled A/D value 32 16 MagZ INT sampled A/D value Name 6 Data Description Type Table 199: Estimated Quaternion Telemetry Format ID 218 Frame Length (bytes) Description Estimated quaternion set Channels Offset Length (bits) (bits) 0 16 Estimated q1 INT Estimated q1 16 16 Estimated q2 INT Estimated q2 32 16 Estimated q3 INT Estimated q3 Name 6 Data Description Type Table 200: ECEF Position Telemetry Format ID 219 Frame Length (bytes) Description Satellite position in ECEF coordinates Channels Offset Length (bits) (bits) Name 6 Data Type Description Part: Doc: Ver: Page: 0 16 ECEF Position X CubeADCS Reference Manual 3.10 159 INT ECEF Position X. (Unit of measure is [m]) 16 16 ECEF Position Y INT ECEF Position Y. (Unit of measure is [m]) 32 16 ECEF Position Z INT ECEF Position Z. (Unit of measure is [m]) Table 201: ACP Execution State Telemetry Format ID 220 Frame Length (bytes) Description Returns information about the ACP loop Channels Offset Length (bits) (bits) 0 16 Name 3 Data Description Type Time Since Iteration UINT Start Time since the start of the current loop iteration. (Unit of measure is [ms]) 16 8 Current Execution ENUM Point Indicates which part of the loop is currently values executing. are in Possible Table 202: ExecutionWaypoints Enumeration Values Table 202: ExecutionWaypoints Enumeration Values Numeric Value Name Description 0 Init Busy with initialization 1 Idle Idle 2 Sensor/Actuator Communications Sensor/Actuator Communications 3 ADCS Update ADCS Estimation & Control Update 4 Perhipheral Power commands (over Perhipheral Power commands (over I2C) I2C) 5 CPU Temperature Sampling CPU Temperature Sampling 6 Image Download Image Download 7 Image Compression Image Compression 8 Saving Image to SD Card Saving Image to SD Card 9 Logging Logging 10 Log File Compression Log File Compression 11 Saving Log to SD Card Saving Log to SD Card 12 Writing to flash Writing to flash memory Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 160 Table 203: Status of Image Capture and Save Operation Telemetry Format ID 233 Frame Length (bytes) Description Status of Image Capture and Save Operation Channels Offset Length (bits) (bits) 0 8 Name 2 Data Percentage UINT Complete 8 Description Type 8 Current progress of operation. (Unit of measure is [%]) Status ENUM Current status of operation. Possible values are in Table 204: ImSaveStatus Enumeration Values Table 204: ImSaveStatus Enumeration Values Numeric Value Name 0 No Error 1 Timeout 2 3 No Error waiting for sensor to Timeout waiting for sensor to become become available available Timeout waiting for next frame to Timeout waiting for next frame to become become ready ready Checksum 4 Description mismatch between Checksum mismatch between donwloaded donwloaded frame and unit frame frame and unit frame Error writing to SD card Error writing to SD card Table 205: SD Log1 Configuration Telemetry Format ID 235 Frame Length (bytes) Description Log selection and period for LOG1 Channels Offset Length (bits) (bits) 0 80 Name 13 Data Description Type Log Selection ARRAY Log Selection - up to 80 flags indicating which telemetry frames should be logged 80 16 Log Period UINT Log period. Set to 0 to disable logging 96 8 Log Destination ENUM Which SD card to use to store log file. Possible values are in Table 82: SdLogSelect Values Enumeration Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 161 Table 206: SD Log2 Configuration Telemetry Format ID 236 Frame Length (bytes) Description Log selection and period for LOG2 Channels Offset Length (bits) (bits) 0 80 13 Name Data Description Type Log Selection ARRAY Log Selection - up to 80 flags indicating which telemetry frames should be logged 80 16 Log Period UINT Log period. Set to 0 to disable logging 96 8 Log Destination ENUM Which SD card to use to store log file. Possible values are in Table 82: SdLogSelect Enumeration Values Table 207: UART Log Configuration Telemetry Format ID 237 Frame Length (bytes) 12 Description Log selection and period for UART (unsolicited TLM) Channels Offset Length (bits) (bits) 0 80 Name Data Description Type Log Selection ARRAY Log Selection - up to 80 flags indicating which telemetry frames should be logged 80 16 Log Period UINT Log period. Set to 0 to disable logging Table 208: Telecommand Acknowledge Telemetry Format ID 240 Frame Length (bytes) Description Telemetry frame with acknowledge status of the previously sent command Channels Offset Length (bits) (bits) 0 8 Last TC ID UINT ID of last received TC 8 1 Processed flag BOOL Flag to indicate if the last TC has Name 4 Data Description Type been processed. 16 8 TC error status ENUM Status of last processed telecommand. Possible values are in Table 209: TcErrorReason Enumeration Values Part: Doc: Ver: Page: 24 8 TC parameter error CubeADCS Reference Manual 3.10 162 UINT Index of incorrect TC parameter index Table 209: TcErrorReason Enumeration Values Numeric Value Name Description 0 No Error No error 1 Invalid TC Invalid telecommand ID 2 Incorrect Length Incorrect TC parameter length 3 Incorrect Parameter Incorrect TC parameter value Table 210: File Download Buffer with File Contents Telemetry Format ID 241 Frame Length (bytes) Description File Download buffer 20-byte packet Channels Offset Length (bits) (bits) 0 16 Name 22 Data Description Type Packet counter UINT Packet counter of this file download packet 16 160 File bytes ARRAY File 20-byte packet Table 211: Download Block Ready Telemetry Format ID 242 Frame Length (bytes) Description Status about download block preparation Channels Offset Length (bits) (bits) 0 1 Ready BOOL Ready 1 1 ParameterError BOOL The combination of message Name 5 Data Description Type length and hole map resulted in invalid array lengths 8 16 Block CRC16 UINT Block CRC16 Checksum UINT Block length Checksum 24 16 Block Length Table 212: File Information Telemetry Format ID 243 Frame Length (bytes) Description File Information Channels Offset Length (bits) (bits) Name 12 Data Type Description Part: Doc: Ver: Page: 0 4 File Type CubeADCS Reference Manual 3.10 163 ENUM File Type. Possible values are in Table 86: FileType Enumeration Values 4 1 Busy Updating BOOL 8 8 File Ctr UINT File Counter 16 32 File Size UINT File Size 48 32 File Data and Time UINT File Data and Time (unix). (Unit of measure is [s]) 80 16 File CRC16 UINT File CRC16 Checksum Checksum Table 213: Initialize Upload Complete Telemetry Format ID 244 Frame Length 1 (bytes) Description Channels Initialize Upload Complete Offset Length (bits) (bits) 0 1 Name Data Description Type Busy BOOL Busy with file initialization (flash erase, etc.) Table 214: Upload Block Complete Telemetry Format ID 245 Frame Length (bytes) Description Finalize Upload Block Complete Channels Offset Length (bits) (bits) 0 1 Busy BOOL Busy with block finalization 1 1 Error BOOL Error in block finalization Name 1 Data Description Type Table 215: Block Checksum Telemetry Format ID 246 Description File upload Block CRC16 Checksum Channels Frame Length (bytes) Offset (bits) Length (bits) 0 16 Name Data Type Checksum UINT 2 Description Checksum Table 216: Hole Map 1 Telemetry Format ID 247 Description File Upload Hole Map 1 Frame Length (bytes) 16 Part: Doc: Ver: Page: Channels Offset (bits) Length (bits) 0 128 CubeADCS Reference Manual 3.10 164 Name Data Type Hole Map ARRAY Description Hole Map Table 217: Hole Map 2 Telemetry Format ID 248 Description File Upload Hole Map 2 Channels Frame Length (bytes) Offset (bits) Length (bits) 0 128 Name Data Type Hole Map ARRAY 16 Description Hole Map Table 218: Hole Map 3 Telemetry Format ID 249 Description File Upload Hole Map 3 Channels Frame Length (bytes) Offset (bits) Length (bits) 0 128 Name Data Type Hole Map ARRAY 16 Description Hole Map Table 219: Hole Map 4 Telemetry Format ID 250 Description File Upload Hole Map 4 Channels Frame Length (bytes) Offset (bits) Length (bits) 0 128 Name Data Type Hole Map ARRAY 16 Description Hole Map Table 220: Hole Map 5 Telemetry Format ID 251 Description File Upload Hole Map 5 Channels Frame Length (bytes) Offset (bits) Length (bits) 0 128 Name Data Type Hole Map ARRAY 16 Description Hole Map Table 221: Hole Map 6 Telemetry Format ID 252 Description File Upload Hole Map 6 Channels Frame Length (bytes) Offset (bits) Length (bits) 0 128 Name Hole Map Data Type ARRAY 16 Description Hole Map Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 165 Table 222: Hole Map 7 Telemetry Format ID 253 Description File Upload Hole Map 7 Channels Frame Length (bytes) Offset (bits) Length (bits) 0 128 Name Data Type Hole Map ARRAY 16 Description Hole Map Table 223: Hole Map 8 Telemetry Format ID 254 Description File Upload Hole Map 8 Channels Frame Length (bytes) Offset (bits) Length (bits) 0 128 Name Data Type Hole Map ARRAY 4.5.9 Logging Table 224: Loggable Telemetry Frames Mask Telemetry Telemetry Frame ID 01 00 00 00 00 00 00 00 00 00 144 Communication Status 02 00 00 00 00 00 00 00 00 00 143 EDAC Error Counters 04 00 00 00 00 00 00 00 00 00 132 Boot And Running Program Status 08 00 00 00 00 00 00 00 00 00 141 Last Logged Event 10 00 00 00 00 00 00 00 00 00 142 SRAM Latchup counters 20 00 00 00 00 00 00 00 00 00 140 Current Unix Time 80 00 00 00 00 00 00 00 00 00 157 Magnetorquer Command 00 01 00 00 00 00 00 00 00 00 158 Wheel Speed Commands 00 02 00 00 00 00 00 00 00 00 151 Magnetic Field Vector 00 04 00 00 00 00 00 00 00 00 152 Coarse Sun Vector 00 08 00 00 00 00 00 00 00 00 153 Fine Sun Vector 00 10 00 00 00 00 00 00 00 00 154 Nadir Vector 00 20 00 00 00 00 00 00 00 00 155 Rate Sensor Rates 00 40 00 00 00 00 00 00 00 00 156 Wheel Speed 00 80 00 00 00 00 00 00 00 00 181 Star 1 Body Vector 00 00 01 00 00 00 00 00 00 00 184 Star 1 Orbit Vector 00 00 02 00 00 00 00 00 00 00 182 Star 2 Body Vector 00 00 04 00 00 00 00 00 00 00 185 Star 2 Orbit Vector 00 00 08 00 00 00 00 00 00 00 183 Star 3 Body Vector 00 00 10 00 00 00 00 00 00 00 186 Star 3 Orbit Vector 00 00 20 00 00 00 00 00 00 00 171 CubeSense Current Measurements 00 00 40 00 00 00 00 00 00 00 172 CubeControl Current Measurements 16 Description Hole Map Part: Doc: Ver: Page: CubeADCS Reference Manual 3.10 166 00 00 80 00 00 00 00 00 00 00 173 Wheel Currents 00 00 00 01 00 00 00 00 00 00 198 ADCS Misc Current Measurements 00 00 00 02 00 00 00 00 00 00 174 ADCS Temperatures 00 00 00 04 00 00 00 00 00 00 175 Rate sensor temperatures 00 00 00 08 00 00 00 00 00 00 145 Current ADCS State 00 00 00 10 00 00 00 00 00 00 146 Estimated Attitude Angles 00 00 00 20 00 00 00 00 00 00 218 Estimated Quaternion 00 00 00 40 00 00 00 00 00 00 147 Estimated Angular Rates 00 00 00 80 00 00 00 00 00 00 148 Satellite Position (ECI) 00 00 00 00 01 00 00 00 00 00 149 Satellite Velocity (ECI) 00 00 00 00 02 00 00 00 00 00 150 Satellite Position (LLH) 00 00 00 00 04 00 00 00 00 00 219 ECEF Position 00 00 00 00 08 00 00 00 00 00 159 IGRF Modelled Magnetic Field Vector 00 00 00 00 10 00 00 00 00 00 160 Modelled Sun Vector 00 00 00 00 20 00 00 00 00 00 161 Estimated Gyro Bias 00 00 00 00 40 00 00 00 00 00 162 Estimation Innovation Vector 00 00 00 00 80 00 00 00 00 00 163 Quaternion Error Vector 00 00 00 00 00 01 00 00 00 00 164 Quaternion Covariance 00 00 00 00 00 02 00 00 00 00 165 Angular Rate Covariance 00 00 00 00 00 04 00 00 00 00 176 Raw GPS Status 00 00 00 00 00 08 00 00 00 00 177 Raw GPS Time 00 00 00 00 00 10 00 00 00 00 178 Raw GPS X 00 00 00 00 00 20 00 00 00 00 179 Raw GPS Y 00 00 00 00 00 40 00 00 00 00 180 Raw GPS Z 00 00 00 00 00 80 00 00 00 00 166 Raw Cam2 Sensor 00 00 00 00 00 00 01 00 00 00 167 Raw Cam1 Sensor 00 00 00 00 00 00 02 00 00 00 168 Raw CSS 1 to 6 00 00 00 00 00 00 04 00 00 00 169 Raw CSS 7 to 10 00 00 00 00 00 00 08 00 00 00 170 Raw Magnetometer 00 00 00 00 00 00 10 00 00 00 188 Star Performance 00 00 00 00 00 00 20 00 00 00 187 Star Magnitude 00 00 00 00 00 00 40 00 00 00 212 Star 1 Raw Data 00 00 00 00 00 00 80 00 00 00 213 Star 2 Raw Data 00 00 00 00 00 00 00 01 00 00 214 Star 3 Raw Data 00 00 00 00 00 00 00 02 00 00 189 Star Timing 00 00 00 00 00 00 00 04 00 00 215 Redundant Magnetometer Raw Measurements
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File Type : PDF File Type Extension : pdf MIME Type : application/pdf PDF Version : 1.5 Linearized : No Page Count : 166 Language : en-ZA Tagged PDF : Yes Title : CubeADCS Author : CubeSpace Subject : Reference Manual Creator : Microsoft® Word 2013 Create Date : 2018:04:05 09:23:57+02:00 Modify Date : 2018:04:05 09:23:57+02:00 Producer : Microsoft® Word 2013EXIF Metadata provided by EXIF.tools