CubeADCS Cube ADCS Reference Manual [V3.10]

CubeADCS

The complete ADCS solution

Reference Manual

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 2

Document

CubeADCS Reference Manual

Version

3.10

Domain

Public

Date modified

29 March 2018

Approved by

Name:

Mike-Alec Kearney

Signature:

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Document Version History

Version

Responsible

person(s)

Pages

Date

Description of change

3.0

MK

ALL

20/03/2017

V3 First draft

3.02

WHS

ALL

28/06/2017

V3 Second draft

3.03

MK

ALL

13/07/2017

V3 Third draft (Minor formatting)

3.04

MK

ALL

27/07/2017

Accept/Reject team changes

3.05

HWJ

24, 28, 67,

78, 84 - 88,

106-111,

140

17/10/2017

Added default configuration

telecommand and corrected download

package size. Added scrub settings tlm

and tcm. Updated ADCS state,

Communication status tlm packets

3.06

WHS

31,32

16/01/2018

Update Control Modes

3.07

CJG + HWJ

24, 26, 68,

84 - 88

09/02/2018

Removed command 70, added JPG

conversion telecommand and telemetry

and the CubeACP status telemetry

3.08

CJG

21

12/02/2018

Added a description for SPI

3.09

WHS

21/02/2018

Corrections to magnetometer selection

TC and TLM enums. Cam1 and Cam2

designations.

3.10

LV

21 - 166

9/03/2018

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

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List of Acronyms/Abbreviations

ACP ADCS Control Program

ADCS Attitude Determination and Control System

CSS Coarse Sun Sensor

ESD Electrostatic Discharge

I2C Inter-Integrated Circuit

MCU Microcontroller Unit

MEMS Microelectromechanical System

OBC Onboard Computer

PCB Printed Circuit Board

RTC Real-Time Clock

SBC Satellite Body Coordinate

SPI Serial Peripheral Interface

TC Telecommand

TLM Telemetry

UART Universal Asynchronous Receiver/Transmitter

Relevant reference documents

This document is to be used in combination with the following documents

Reference

Document name

Document version

Ref 1

CubeADCS - ICD

V3.0 or higher

Ref 2

CubeADCS – User Manual

V3.0 or higher

Relevant CubeACP version

This document serves as reference to the CubeACP with the following version numbers

Version

Software version

3.11

Node type identifier

10

Interface version

3

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Table of Contents

1. Introduction ................................................................................................................... 6

2. ADCS Hardware ............................................................................................................. 7

2.1 Sensor accuracies ................................................................................................................................... 7

2.2 ADCS Hardware Stack .......................................................................................................................... 7

2.3 CubeComputer (ADCS OBC) .............................................................................................................. 8

2.4 CubeControl ............................................................................................................................................. 9

2.5 CubeWheels .......................................................................................................................................... 12

2.6 CubeSense Module ............................................................................................................................ 12

3. Example ADCS Simulation .......................................................................................... 14

3.1 Control Stage 1 .................................................................................................................................... 15

3.2 Control Stage 2 .................................................................................................................................... 16

3.3 Control Stage 3 .................................................................................................................................... 18

4. Software Interface ....................................................................................................... 20

4.1 UART ........................................................................................................................................................ 20

4.2 I2C.............................................................................................................................................................. 20

4.3 CAN .......................................................................................................................................................... 21

4.4 SPI ............................................................................................................................................................. 21

4.5 Telecommands and Telemetries ................................................................................................... 21

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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.

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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

Type

Range/FOV

Accuracy (RMS)

Magnetometer

3-axis MagR

± 60 μT

< 40 nT

Sun Sensor

Nadir Sensor

Coarse Sun Sensor

2-axis CMOS

6 Photodiodes

Hemisphere

± 45⁰

Full Sphere

< 0.2°

< 10°

Rate sensor

3-axis MEMS

± 20 ⁰/sec

< 0.01 ⁰/sec

Star Tracker

2-axis APS

52⁰ x 27⁰

< 0.01⁰ bore sight

< 0.03⁰ rotate

CubeWheel Small

BLDC Motor

± 1.7 mNms

± 0.2 mNm

< 0.0004 mNms

< 0.001 mNm

Magnetorquer Rod

3-axis Ferro-magnetic coils

± 0.24 Am2

< 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

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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

64g

Average power when running ADCS

120mW

Peak power when running ADCS

180mW

Figure 3 shows a photo of CubeComputer.

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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.

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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.

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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 X-

body 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

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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.

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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

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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

Value

Semi-major axis

6992 km

Initial Inclination

Orbital Period

Eccentricity

97.98⁰

5818 sec

0.0011

Sun-synchronicity

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

Value (kgm2)

Ixx

0.007

Iyy

0.04

Izz

0.038

Ixy

0.000097

Ixz

-0.000068

Iyz

0.000055

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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

45⁰ respectively. The initial angular rate vector (orbit referenced) is:

 

T

OB 0105

/

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.

Figure 13: Detumbling to Y-Thomson in Control Stage 1

Detumbling to Y-Thomson

(MT-total = 3166 sec)

-10

-8

-6

-4

-2

0

2

4

6

8

10

02000 4000 6000 8000 10000 12000

Time (sec)

ORC Angular rates (deg/s)

Wxo

Wyo

Wzo

Detumbling to Y-Thomson

(MT-total = 3166 sec)

-180

-135

-90

-45

0

45

90

135

180

02000 4000 6000 8000 10000 12000

Time (sec)

RPY Attitude (deg)

Roll

Pitch

Yaw

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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.

Figure 14: Y-Thomson to Y-Momentum wheel in Control Stage 2

Y-Thomson to Y-Wheel control

(MT-total = 373 sec)

-2.5

-2

-1.5

-1

-0.5

0

0.5

1

02000 4000 6000 8000 10000 12000

Time (sec)

ORC Angular rates (deg/s)

Wxo

Wyo

Wzo

Y-Thomson to Y-Wheel control

(MT-total = 373 sec)

-180

-135

-90

-45

0

45

90

135

180

02000 4000 6000 8000 10000 12000

Time (sec)

RPY Attitude (deg)

Roll

Pitch

Yaw

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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 Y-

wheel 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.

Figure 15: Y-Momentum wheel control performance in Control Stage 2

Y-Wheel control

(MT-total = 154 sec)

-15

-10

-5

0

5

10

15

02000 4000 6000 8000 10000 12000

Time (sec)

RPY Attitude (deg)

Roll

Pitch

Yaw

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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 Cross-

Product 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.

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

3-Axis Reaction Wheel control

(MT-total = 155 sec)

-15

-10

-5

0

5

10

15

02000 4000 6000 8000 10000 12000

Time (sec)

RPY Attitude (deg)

Roll

Pitch

Yaw

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and 5⁰ yaw rotation maneuver and thereafter a maneuver back to zero attitude at 8500

seconds.

Figure 17: Reaction wheel control performance in Control Stage 3 with CubeStar

3-Axis Reaction Wheel control (with CubeStar)

(MT-total = 151 sec)

-15

-10

-5

0

5

10

15

02000 4000 6000 8000 10000 12000

Time (sec)

RPY Attitude (deg)

Roll

Pitch

Yaw

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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

Value

Baud rate

115200

Data bits

8

Parity

None

Stop bits

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

Start of message

0xFF

End of meaasge

0x1F

Data byte 0x1F

other

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

Function

I2C address

Write

0xAE

Read

0xAF

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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.

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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

S

0xAF

TLM byte 0

...

P

Master writes

node address

(write operation)

Master writes

telemetry frame ID

Master writes

node address

(read operation)

Master reads

first TLM data

byte

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

...

P

Master writes

node address

(write operation)

Master writes

telecommand ID

Master writes

data bytes

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).

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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

TLM ID

0x1F

0xFF

Start-of-message identifier

End-of-message identifier

Figure 20: UART Telemetry request

The reply will then have the following form:

0x1F

0x7F

TLM ID

TLM byte 0

...

0x1F

0xFF

Start-of-message

identifier

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

TC ID

TC data byte

0

...

0x1F

0xFF

Start-of-message

identifier

End-of-message

identifier

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Figure 22: UART Telecommand

An acknowledge message will be sent as reply to the telecommand.

0x1F

0x7F

TC ID

TC Error flag

0x1F

0xFF

Start-of-message

identifier

0 = no error

1 = invalid TC ID

2 = invalid parameters

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

Log ID (0xFF)

Mask

TLM frame 1

TLM frame 2

…

TLM frame N

Offset (bytes)

0

1

11

17

…

11 + (N-1)*6

Len (bytes)

1

10

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: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 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

Format

1

2

Current Unix Time

Current Unix Time - Table 11: Current Unix

Time Command Format

6

3

Cache enabled state

Cache enabled state - Table 12: Cache

enabled state Command Format

1

4

Reset Log Pointer

Reset pointer to log buffer (from where

LastLogEvent TLM is returned) - Table 13:

Reset Log Pointer Command Format

0

5

Advance Log Pointer

Advance pointer to log buffer (from where

LastLogEvent TLM is returned) - Table 14:

Advance Log Pointer Command Format

0

6

Reset Boot Registers

Reset Boot Registers - Table 15: Reset Boot

Registers Command Format

0

7

Deploy Magnetometer Boom

Deploy magnetometer boom - Table 16:

Deploy Magnetometer Boom Command

Format

1

8

SRAM Scrub Parameters

SRAM scrubbing size - Table 17: SRAM Scrub

Parameters Command Format

2

9

Unix Time Save to Flash

Configuration settings for unixtime flash

memory persistence - Table 18: Unix Time

Save to Flash Command Format

2

10

ADCS Run Mode

Set ADCS enabled state & control loop

behaviour - Table 19: ADCS Run Mode

Command Format

1

11

ADCS Power Control

Control power to selected components -

Table 21: ADCS Power Control Command

Format

3

12

Clear Errors

Clear Latched Error Flags - Table 23: Clear

Errors Command Format

1

13

Set Attitude Control Mode

Set attitude control mode - Table 24: Set

Attitude Control Mode Command Format

4

14

Set Attitude Estimation Mode

Set attitude estimation mode - Table 26: Set

Attitude Estimation Mode Command Format

1

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 26

15

Commanded Attitude Angles

Commanded attitude angles - Table 28:

Commanded Attitude Angles Command

Format

6

16

Set Magnetorquer Output

Set magnetorquer output (only valid if

Control Mode is None) - Table 29: Set

Magnetorquer Output Command Format

6

17

Set Wheel Speed

Set wheel speed (only valid if Control Mode is

None) - Table 30: Set Wheel Speed Command

Format

6

18

Trigger ADCS Loop

Trigger ADCS to perform one iteration of the

control loop (only valid when ADCS Run

Mode is Triggered) - Table 31: Trigger ADCS

Loop Command Format

0

19

Trigger ADCS Loop with Simulated

Sensor Data

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

90

20

ADCS Configuration

Current configuration - Table 33: ADCS

Configuration Command Format

272

21

Set Magnetorquer Configuration

Set magnetorquer configuration parameters -

Table 37: Set Magnetorquer Configuration

Command Format

3

22

Set Wheel Configuration

Set wheel configuration parameters - Table

38: Set Wheel Configuration Command

Format

4

23

Set Rate Gyro Configuration

Set rate gyro configuration parameters -

Table 39: Set Rate Gyro Configuration

Command Format

3

24

Set CSS Alignment Configuration

Set photodiode pointing directions - Table 40:

Set CSS Alignment Configuration Command

Format

10

25

Set CSS Scale Factor Configuration

Set photodiode scale factors - Table 41: Set

CSS Scale Factor Configuration Command

Format

11

26

Set Cam1 Sensor Configuration

Set Cam1 sensor configuration parameters -

Table 42: Set Cam1 Sensor Configuration

Command Format

15

27

Set Cam2 Sensor Configuration

Set Cam2 sensor configuration parameters -

Table 43: Set Cam2 Sensor Configuration

Command Format

15

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 27

28

Set Nadir Sensor Mask

Configuration 1

Set Nadir Sensor Mask Configuration 1 -

Table 44: Set Nadir Sensor Mask

Configuration 1 Command Format

8

29

Set Nadir Sensor Mask

Configuration 2

Set Nadir Sensor Mask Configuration 2 -

Table 45: Set Nadir Sensor Mask

Configuration 2 Command Format

8

30

Set Nadir Sensor Mask

Configuration 3

Set Nadir Sensor Mask Configuration 3 -

Table 46: Set Nadir Sensor Mask

Configuration 3 Command Format

8

31

Set Nadir Sensor Mask

Configuration 4

Set Nadir Sensor Mask Configuration 4 -

Table 47: Set Nadir Sensor Mask

Configuration 4 Command Format

8

32

Set Nadir Sensor Mask

Configuration 5

Set Nadir Sensor Mask Configuration 5 -

Table 48: Set Nadir Sensor Mask

Configuration 5 Command Format

8

33

Set Magnetometer Mounting

Configuration

Set magnetometer mounting configuration

parameters - Table 49: Set Magnetometer

Mounting Configuration Command Format

6

34

Set Magnetometer Offset and

Scaling Configuration

Set Magnetometer Offset and Scaling

Configuration - Table 50: Set Magnetometer

Offset and Scaling Configuration Command

Format

12

35

Set Magnetometer Sensitivity

Configuration

Set Magnetometer Sensitivity Configuration -

Table 51: Set Magnetometer Sensitivity

Configuration Command Format

12

36

Set Rate Sensor Configuration

Set Rate Sensor Offsets - Table 52: Set Rate

Sensor Configuration Command Format

7

37

Set Star Tracker Configuration

Set configurations of CubeStar - Table 53: Set

Star Tracker Configuration Command Format

26

38

Set Detumbling Control

Parameters

Set controller gains and reference values for

Detumbling control mode - Table 54: Set

Detumbling Control Parameters Command

Format

14

39

Set Y-Wheel Control Parameters

Set controller gains and reference value for Y-

wheel control mode - Table 55: Set Y-Wheel

Control Parameters Command Format

20

40

Set Reaction Wheel Control

Parameters

Set controller gains and reference value for

reaction wheel control mode - Table 56: Set

Reaction Wheel Control Parameters

Command Format

8

41

Set Moments of Inertia

Set satellite moments of inertia - Table 57: Set

Moments of Inertia Command Format

12

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 28

42

Set Products of Inertia

Set satellite products of inertia - Table 58: Set

Products of Inertia Command Format

12

43

Set Estimation Parameters 1

Set estimation noise covariance and sensor

mask 1 - Table 59: Set Estimation Parameters

1 Command Format

16

44

Set Estimation Parameters 2

Set estimation noise covariance and sensor

mask 2 - Table 60: Set Estimation Parameters

2 Command Format

14

45

SGP4 Orbit Parameters

SGP4 Orbit Parameters - Table 61: SGP4 Orbit

Parameters Command Format

64

46

Set SGP4 Orbit Inclination

Set SGP4 Orbit Inclination - Table 63: Set

SGP4 Orbit Inclination Command Format

8

47

Set SGP4 Orbit Eccentricity

Set SGP4 Orbit Eccentricity - Table 64: Set

SGP4 Orbit Eccentricity Command Format

8

48

Set SGP4 Orbit RAAN

Set SGP4 Orbit RAAN - Table 65: Set SGP4

Orbit RAAN Command Format

8

49

Set SGP4 Orbit Argument of

Perigee

Set SGP4 Orbit Argument of Perigee - Table

66: Set SGP4 Orbit Argument of Perigee

Command Format

8

50

Set SGP4 Orbit B-Star Drag term

Set SGP4 Orbit B-Star Drag term - Table 67:

Set SGP4 Orbit B-Star Drag term Command

Format

8

51

Set SGP4 Orbit Mean Motion

Set SGP4 Orbit Mean Motion - Table 68: Set

SGP4 Orbit Mean Motion Command Format

8

52

Set SGP4 Orbit Mean Anomaly

Set SGP4 Orbit Mean Anomaly - Table 69: Set

SGP4 Orbit Mean Anomaly Command Format

8

53

Set SGP4 Orbit Epoch

Set SGP4 Orbit Epoch - Table 70: Set SGP4

Orbit Epoch Command Format

8

54

Set Tracking Controller Gain

Parameters

Set controller gains for tracking control mode

- Table 71: Set Tracking Controller Gain

Parameters Command Format

12

55

Tracking Controller Target

Reference

Target reference for tracking control mode -

Table 72: Tracking Controller Target

Reference Command Format

12

56

Set Mode of Magnetometer

Operation

Use of main or redundant magnetometer -

Table 73: Set Mode of Magnetometer

Operation Command Format

1

57

Convert to JPG file

Convert raw or bmp files to JPG - Table 74:

Convert to JPG file Command Format

3

60

Default Configuration

Retrieves default configuration and saves it to

flash - Table 75: Default Configuration

Command Format

0

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 29

63

Save Configuration

Save current configuration to flash memory -

Table 76: Save Configuration Command

Format

0

64

Save Orbit Parameters

Save current orbit parameters to flash

memory - Table 77: Save Orbit Parameters

Command Format

0

80

Save Image

Save and capture image from one of

CubeSense cameras or CubeStar camera to

SD card - Table 78: Save Image Command

Format

2

104

SD Log1 Configuration

Log selection and period for LOG1 - Table 81:

SD Log1 Configuration Command Format

13

105

SD Log2 Configuration

Log selection and period for LOG2 - Table 83:

SD Log2 Configuration Command Format

13

106

UART Log Configuration

Log selection and period for UART

(unsolicited TLM) - Table 84: UART Log

Configuration Command Format

12

108

Erase File

Erase File - Table 85: Erase File Command

Format

3

112

Load File Download Block

Fill download buffer with file contents - Table

87: Load File Download Block Command

Format

8

113

Advance File List Read Pointer

Advance File List Read Pointer - Table 88:

Advance File List Read Pointer Command

Format

0

114

Initiate File Upload

Initiate File Upload - Table 89: Initiate File

Upload Command Format

2

115

File Upload Packet

File Upload Packet - Table 91: File Upload

Packet Command Format

22

116

Finalize Upload Block

Finalize Uploaded File Block - Table 92:

Finalize Upload Block Command Format

7

117

Reset Upload Block

Reset HoleMap for Upload Block - Table 93:

Reset Upload Block Command Format

0

118

Reset File List Read Pointer

Reset File List Read Pointer - Table 94: Reset

File List Read Pointer Command Format

0

119

Initiate Download Burst

Initiate Download Burst - Table 95: Initiate

Download Burst Command Format

2

120

Hole Map 1

File Upload Hole Map 1 - Table 96: Hole Map

1 Command Format

16

121

Hole Map 2

File Upload Hole Map 2 - Table 97: Hole Map

2 Command Format

16

122

Hole Map 3

File Upload Hole Map 3 - Table 98: Hole Map

3 Command Format

16

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 30

123

Hole Map 4

File Upload Hole Map 4 - Table 99: Hole Map

4 Command Format

16

124

Hole Map 5

File Upload Hole Map 5 - Table 100: Hole

Map 5 Command Format

16

125

Hole Map 6

File Upload Hole Map 6 - Table 101: Hole

Map 6 Command Format

16

126

Hole Map 7

File Upload Hole Map 7 - Table 102: Hole

Map 7 Command Format

16

127

Hole Map 8

File Upload Hole Map 8 - Table 103: Hole

Map 8 Command Format

16

Table 10: Reset Command Format

ID

1

Parameters Length

(bytes)

1

Description

Perform a reset

Parameters

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

8

Magic

number

UINT

Magic number to make sure it is a

valid reset command. Should equal

0x5A

Table 11: Current Unix Time Command Format

ID

2

Parameters Length (bytes)

6

Description

Current Unix Time

Parameters

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

32

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

Parameters Length (bytes)

1

Description

Cache enabled state

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

0

1

Enabled state

BOOL

Enabled state

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 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)

0

Description

Reset Boot Registers

Table 16: Deploy Magnetometer Boom Command Format

ID

7

Parameters Length

(bytes)

1

Description

Deploy magnetometer boom

Parameters

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

8

Timeout

UINT

Deployment actuation timeout

value. (Unit of measure is [s])

Table 17: SRAM Scrub Parameters Command Format

ID

8

Parameters Length (bytes)

2

Description

SRAM scrubbing size

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

0

16

Scrub Size

UINT

Scrub Size

Table 18: Unix Time Save to Flash Command Format

ID

9

Parameters Length (bytes)

2

Description

Configuration settings for unixtime flash memory persistence

Parameters

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

1

Save Now

BOOL

Save current unixtime to flash

memory

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 32

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

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

Length (bytes)

1

Description

Set ADCS enabled state & control loop behaviour

Parameters

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

8

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)

3

Description

Control power to selected components

Parameters

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

2

CubeControl Signal

Power Selection

ENUM

Control power to electronics of

CubeControl Signal PIC. Possible

values are in Table 22:

PowerSelect Enumeration Values

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 33

2

CubeControl Motor

Power Selection

ENUM

Control power to electronics of

CubeControl Motor PIC. Possible

values are in Table 22:

PowerSelect Enumeration Values

4

2

CubeSense Power

Selection

ENUM

Control power to the CubeSense.

Possible values are in Table 22:

PowerSelect Enumeration Values

6

2

CubeStarPower

Power Selection

ENUM

Control power to the CubeStar.

Possible values are in Table 22:

PowerSelect Enumeration Values

8

2

CubeWheel1Power

Power Selection

ENUM

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

12

2

CubeWheel3Power

Power Selection

ENUM

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

1

Permanently On

2

Power state depends on current

control mode

Power state depends on current control

mode

3

Simulated Auto Mode

Simulate power control - Nodes are not

actually enabled, but the ACP behaves as if

they are. This setting is used for HIL

simulations

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 34

Table 23: Clear Errors Command Format

ID

12

Parameters Length (bytes)

1

Description

Clear Latched Error Flags

Parameters

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

1

ADCS Error Flags

BOOL

Clear ADCS error flags

1

HK Error Flags

BOOL

Clear HK Error flags

Table 24: Set Attitude Control Mode Command Format

ID

13

Parameters Length (bytes)

4

Description

Set attitude control mode

Parameters

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

8

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

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

1

Detumbling control

2

Y-Thomson spin

3

Y-Wheel momentum stabilized -

Initial Pitch Acquisition

Y-Wheel momentum stabilized - Initial

Pitch Acquisition

4

Y-Wheel momentum stabilized -

Steady State

Y-Wheel momentum stabilized - Steady

State

5

XYZ-Wheel control

6

Rwheel sun tracking control

7

Rwheel target tracking control

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 35

8

Very Fast-spin Detumbling control

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

(bytes)

1

Description

Set attitude estimation mode

Parameters

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

8

Attitude

Estimation

Mode

ENUM

Attitude estimation mode. Possible

values are in Table 27:

EstimModeSelect Enumeration

Values

Table 27: EstimModeSelect Enumeration Values

Numeric Value

Name

Description

0

No attitude estimation

1

MEMS rate sensing

2

Magnetometer rate filter

3

Magnetometer rate filter with pitch

estimation

Magnetometer rate filter with pitch

estimation

4

Magnetometer and Fine-sun TRIAD

algorithm

Magnetometer and Fine-sun TRIAD

algorithm

5

Full-state EKF

6

MEMS gyro EKF

Table 28: Commanded Attitude Angles Command Format

ID

15

Parameters Length (bytes)

6

Description

Commanded attitude angles

Parameters

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

Commanded Roll

Angle

INT

Commanded roll angle. Raw

parameter value is obtained

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 36

using the formula: (raw

parameter) = (formatted

value)*100.0 (formatted value is

in [deg] units)

16

Commanded Pitch

Angle

INT

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

Angle

INT

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)

6

Description

Set magnetorquer output (only valid if Control Mode is None)

Parameters

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

Commanded X

Magnetorquer duty

cycle

INT

Commanded X-torquer duty

cycle. Raw parameter value is

obtained using the formula: (raw

parameter) = (formatted

value)*1000.0

16

Commanded Y

Magnetorquer duty

cycle

INT

Commanded Y-torquer duty

cycle. Raw parameter value is

obtained using the formula: (raw

parameter) = (formatted

value)*1000.0

32

16

Commanded Z

Magnetorquer duty

cycle

INT

Commanded Z-torquer duty

cycle. Raw parameter value is

obtained using the formula: (raw

parameter) = (formatted

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)

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 37

Parameters

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

Commanded X

speed

INT

Commanded X-wheel speed.

(Unit of measure is [rpm])

16

Commanded Y

speed

INT

Commanded Y-wheel speed.

(Unit of measure is [rpm])

32

16

Commanded Z

speed

INT

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

(bits)

Length

(bits)

Name

Data

Type

Description

0

32

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: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 38

280

8

Cam2 Result

UINT

Cam2 sensor detection result

288

16

Mag Raw X

INT

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: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 39

Description

Current configuration

Parameters

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

8

Magnetorquer 1

Configuration

ENUM

Magnetorquer 1 Configuration.

Possible values are in Table 34:

AxisSelect Enumeration Values

8

Magnetorquer 2

Configuration

ENUM

Magnetorquer 2 Configuration.

Possible values are in Table 34:

AxisSelect Enumeration Values

16

8

Magnetorquer 3

Configuration

ENUM

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

Configuration

ENUM

Gyro1 Configuration. Possible

values are in Table 34: AxisSelect

Enumeration Values

64

8

Gyro2

Configuration

ENUM

Gyro2 Configuration. Possible

values are in Table 34: AxisSelect

Enumeration Values

72

8

Gyro3

Configuration

ENUM

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: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 40

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

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: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 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

Scale

UINT

CSS10 Relative Scaling Factor.

Raw parameter value is obtained

using the formula: (raw

parameter) = (formatted

value)*100.0

240

8

CSS Threshold

UINT

CSS Threshold

248

16

Cam1 Sensor

Mounting

Transform Alpha

Angle

INT

Cam1 Sensor Mounting

Transform Alpha Angle. Raw

parameter value is obtained

using the formula: (raw

parameter) = (formatted

value)*100.0 (formatted value is

in [deg] units)

264

16

Cam1 Sensor

Mounting

Transform Beta

Angle

INT

Cam1 Sensor Mounting

Transform Beta Angle. Raw

parameter value is obtained

using the formula: (raw

parameter) = (formatted

value)*100.0 (formatted value is

in [deg] units)

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 42

280

16

Cam1 Sensor

Mounting

Transform Gamma

Angle

INT

Cam1 Sensor Mounting

Transform Gamma Angle. Raw

parameter value is obtained

using the formula: (raw

parameter) = (formatted

value)*100.0 (formatted value is

in [deg] units)

296

8

Cam1 detection

threshold

UINT

304

1

Cam1 sensor auto

adjust mode

BOOL

0 = disabled and 1 = enabled

312

16

Cam1 sensor

exposure time

UINT

exposure time register value

328

16

Cam1 Boresight X

UINT

X 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)

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

Mounting

Transform Alpha

Angle

INT

Cam2 Sensor Mounting

Transform Alpha Angle. Raw

parameter value is obtained

using the formula: (raw

parameter) = (formatted

value)*100.0 (formatted value is

in [deg] units)

384

16

Cam2 Sensor

Mounting

Transform Beta

Angle

INT

Cam2 Sensor Mounting

Transform Beta Angle. Raw

parameter value is obtained

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: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 43

Transform Gamma

Angle

parameter value is obtained

using the formula: (raw

parameter) = (formatted

value)*100.0 (formatted value is

in [deg] units)

416

8

Cam2 detection

threshold

UINT

Cam2 detection threshold

424

1

Cam2 sensor auto

adjust mode

BOOL

0 = disabled and 1 = enabled

432

16

Cam2 sensor

exposure time

UINT

exposure time register value

448

16

Cam2 Boresight X

UINT

X 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)

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

1

UINT

Minimum X of Area 1

504

16

Maximum X of area

1

UINT

Maximum X of Area 1

520

16

Minimum Y of area

1

UINT

Minimum Y of Area 1

536

16

Maximum Y of area

1

UINT

Maximum Y of Area 1

552

16

Minimum X of area

2

UINT

Minimum X of Area 2

568

16

Maximum X of area

2

UINT

Maximum X of Area 2

584

16

Minimum Y of area

2

UINT

Minimum Y of Area 2

600

16

Maximum Y of area

2

UINT

Maximum Y of Area 2

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 44

616

16

Minimum X of area

3

UINT

Minimum X of Area 3

632

16

Maximum X of area

3

UINT

Maximum X of Area 3

648

16

Minimum Y of area

3

UINT

Minimum Y of Area 3

664

16

Maximum Y of area

3

UINT

Maximum Y of Area 3

680

16

Minimum X of area

4

UINT

Minimum X of Area 4

696

16

Maximum X of area

4

UINT

Maximum X of Area 4

712

16

Minimum Y of area

4

UINT

Minimum Y of Area 4

728

16

Maximum Y of area

4

UINT

Maximum Y of Area 4

744

16

Minimum X of area

5

UINT

Minimum X of Area 5

760

16

Maximum X of area

5

UINT

Maximum X of Area 5

776

16

Minimum Y of area

5

UINT

Minimum Y of Area 5

792

16

Maximum Y of area

5

UINT

Maximum Y of Area 5

808

16

Magnetometer

Mounting

Transform Alpha

Angle

INT

Magnetometer Mounting

Transform Alpha Angle. Raw

parameter value is obtained

using the formula: (raw

parameter) = (formatted

value)*100.0 (formatted value is

in [deg] units)

824

16

Magnetometer

Mounting

Transform Beta

Angle

INT

Magnetometer Mounting

Transform Beta Angle. Raw

parameter value is obtained

using the formula: (raw

parameter) = (formatted

value)*100.0 (formatted value is

in [deg] units)

840

16

Magnetometer

Mounting

Transform Gamma

Angle

INT

Magnetometer Mounting

Transform Gamma Angle. Raw

parameter value is obtained

using the formula: (raw

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 45

parameter) = (formatted

value)*100.0 (formatted value is

in [deg] units)

856

16

Magnetometer

Channel 1 Offset

INT

Magnetometer Channel 1 Offset.

Raw parameter value is obtained

using the formula: (raw

parameter) = (formatted

value)*1000.0

872

16

Magnetometer

Channel 2 Offset

INT

Magnetometer Channel 2 Offset.

Raw parameter value is obtained

using the formula: (raw

parameter) = (formatted

value)*1000.0

888

16

Magnetometer

Channel 3 Offset

INT

Magnetometer Channel 3 Offset.

Raw parameter value is obtained

using the formula: (raw

parameter) = (formatted

value)*1000.0

904

16

Magnetometer

Sensitivity Matrix

S11

INT

Magnetometer Sensitivity Matrix

S11. Raw parameter value is

obtained using the formula: (raw

parameter) = (formatted

value)*1000.0

920

16

Magnetometer

Sensitivity Matrix

S22

INT

Magnetometer Sensitivity Matrix

S22. Raw parameter value is

obtained using the formula: (raw

parameter) = (formatted

value)*1000.0

936

16

Magnetometer

Sensitivity Matrix

S33

INT

Magnetometer Sensitivity Matrix

S33. Raw parameter value is

obtained using the formula: (raw

parameter) = (formatted

value)*1000.0

952

16

Magnetometer

Sensitivity Matrix

S12

INT

Magnetometer Sensitivity Matrix

S12. Raw parameter value is

obtained using the formula: (raw

parameter) = (formatted

value)*1000.0

968

16

Magnetometer

Sensitivity Matrix

S13

INT

Magnetometer Sensitivity Matrix

S13. Raw parameter value is

obtained using the formula: (raw

parameter) = (formatted

value)*1000.0

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 46

984

16

Magnetometer

Sensitivity Matrix

S21

INT

Magnetometer Sensitivity Matrix

S21. Raw parameter value is

obtained using the formula: (raw

parameter) = (formatted

value)*1000.0

1000

16

Magnetometer

Sensitivity Matrix

S23

INT

Magnetometer Sensitivity Matrix

S23. Raw parameter value is

obtained using the formula: (raw

parameter) = (formatted

value)*1000.0

1016

16

Magnetometer

Sensitivity Matrix

S31

INT

Magnetometer Sensitivity Matrix

S31. Raw parameter value is

obtained using the formula: (raw

parameter) = (formatted

value)*1000.0

1032

16

Magnetometer

Sensitivity Matrix

S32

INT

Magnetometer Sensitivity Matrix

S32. Raw parameter value is

obtained using the formula: (raw

parameter) = (formatted

value)*1000.0

1048

16

X-Rate Sensor

Offset

INT

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

Offset

INT

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

Offset

INT

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: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 47

Transform Alpha

Angle

formula: (raw parameter) =

(formatted value)*100.0

(formatted value is in [deg] units)

1120

16

StarTracker

Mounting

Transform Beta

Angle

INT

StarTracker Mounting Transform

Beta Angle. Raw parameter value

is obtained using the formula:

(raw parameter) = (formatted

value)*100.0 (formatted value is

in [deg] units)

1136

16

StarTracker

Mounting

Transform Gamma

Angle

INT

StarTracker Mounting Transform

Gamma Angle. Raw parameter

value is obtained using the

formula: (raw parameter) =

(formatted value)*100.0

(formatted value is in [deg] units)

1152

16

StarTracker

exposure time

UINT

exposure time register value

1168

8

StarTracker

detection threshold

UINT

StarTracker detection threshold

1176

8

StarTracker star

threshold

UINT

StarTracker star threshold

1184

8

Maximum Star

Matched

UINT

Maximum of stars that the star

tracker will match

1192

8

Maximum Star Pixel

UINT

Maximum pixels in a star

1200

8

Maximum Star

Noise

UINT

Maximum star pixel noise

1208

8

Minimum Star Pixel

UINT

Minimum pixels in a star

1216

8

Star Tracker Error

Margin

UINT

% Error margin of the star

identification. Raw parameter

value is obtained using the

formula: (raw parameter) =

(formatted value)*100.0

(formatted value is in [%] units)

1224

32

Star Tracker

Centroid X

FLOAT

Pixel centroid X

1256

32

Star Tracker

Centroid Y

FLOAT

Pixel 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: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 48

value)*10000.0 (formatted value

is in [mm] units)

1304

8

Synch Delay

UINT

Synchronization delay within star

Tracker

1312

32

Detumbling Spin

Gain

FLOAT

Detumbling Spin Gain (Ks)

1344

32

Detumbling

Damping Gain

FLOAT

Detumbling Damping Gain (Kd)

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

Detumbling Gain

FLOAT

Fast BDot Detumbling Gain (Kdf)

1424

32

Y-Momentum

Control Gain

FLOAT

Y-Momentum Control Gain (Kh)

1456

32

Y-momentum

Nutation Damping

Gain

FLOAT

Y-momentum Nutation Damping

Gain (Kn)

1488

32

Y-momentum

Proportional Gain

FLOAT

Y-momentum Proportional Gain

(Kp1)

1520

32

Y-momentum

Derivative Gain

FLOAT

Y-momentum Derivative Gain

(Kd1)

1552

32

Reference Wheel

Momentum

FLOAT

Reference Wheel Momentum (H-

ref). Must always be smaller than

0. (Unit of measure is [Nms])

1584

32

RWheel

Proportional Gain

FLOAT

RWheel Proportional Gain (Kp2)

1616

32

RWheel Derivative

Gain

FLOAT

RWheel Derivative Gain (Kd2)

1648

32

Tracking

Proportional Gain

FLOAT

Tracking Proportional Gain (Kp3)

1680

32

Tracking Derivative

Gain

FLOAT

Tracking Derivative Gain (Kd3)

1712

32

Tracking Integral

Gain

FLOAT

Tracking Integral Gain (Ki3)

1744

32

Moment Of Inertia

- Ixx

FLOAT

Moment Of Inertia - Ixx. (Unit of

measure is [kg.m^2])

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 49

1776

32

Moment Of Inertia

- Iyy

FLOAT

Moment Of Inertia - Iyy. (Unit of

measure is [kg.m^2])

1808

32

Moment Of Inertia -

Izz

FLOAT

Moment Of Inertia - Izz. (Unit of

measure is [kg.m^2])

1840

32

Moment Of Inertia

- Ixy

FLOAT

Moment Of Inertia - Ixy. (Unit of

measure is [kg.m^2])

1872

32

Moment Of Inertia

- Ixz

FLOAT

Moment Of Inertia - Ixz. (Unit of

measure is [kg.m^2])

1904

32

Moment Of Inertia -

Iyz

FLOAT

Moment Of Inertia - Iyz. (Unit of

measure is [kg.m^2])

1936

32

Magnetometer

Rate Filter System

Noise

FLOAT

Magnetometer Rate Filter

System Noise

1968

32

EKF System Noise

FLOAT

EKF System Noise

2000

32

CSS Measurement

Noise

FLOAT

CSS Measurement Noise

2032

32

Sun Sensor

Measurement

Noise

FLOAT

Sun Sensor Measurement Noise

2064

32

Nadir Sensor

Measurement

Noise

FLOAT

Nadir Sensor Measurement

Noise

2096

32

Magnetometer

Measurement

Noise

FLOAT

Magnetometer Measurement

Noise

2128

32

Star Tracker

Measurement

Noise

FLOAT

Star Tracker Measurement Noise

2160

1

Use Sun Sensor

BOOL

Use Sun Sensor measurement in

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: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 50

2168

8

Cam1 and Cam2

Sampling Period

UINT

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 34: AxisSelect Enumeration Values

Numeric Value

Name

Description

0

Positive X

1

Negative X

2

Positive Y

3

Negative Y

4

Positive Z

5

Negative Z

6

Not Used

Table 35: MagModeVal Enumeration Values

Numeric Value

Name

Description

0

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

Partial Commands

Length

(bytes)

Bit

offset

Bit

length

Overlapping ADCS Configuration

Telecommand Parameters

21

Set Magnetorquer

Configuration - Table

37: Set Magnetorquer

Configuration

Command Format

3

0

8

Magnetorquer 1 Configuration

8

Magnetorquer 2 Configuration

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 51

16

8

Magnetorquer 3 Configuration

22

Set Wheel

Configuration - Table

38: Set Wheel

Configuration

Command Format

4

24

8

RW1 Configuration

32

8

RW2 Configuration

40

8

RW3 Configuration

48

8

RW4 Configuration

23

Set Rate Gyro

Configuration - Table

39: Set Rate Gyro

Configuration

Command Format

3

56

8

Gyro1 Configuration

64

8

Gyro2 Configuration

72

8

Gyro3 Configuration

24

Set CSS Alignment

Configuration - Table

40: Set CSS Alignment

Configuration

Command Format

10

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

25

Set CSS Scale Factor

Configuration - Table

41: Set CSS Scale

Factor Configuration

Command Format

11

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

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 52

224

8

CSS9 Relative Scale

232

8

CSS10 Relative Scale

240

8

CSS Threshold

26

Set Cam1 Sensor

Configuration - Table

42: Set Cam1 Sensor

Configuration

Command Format

15

248

16

Cam1 Sensor Mounting Transform

Alpha Angle

264

16

Cam1 Sensor Mounting Transform

Beta Angle

280

16

Cam1 Sensor Mounting Transform

Gamma Angle

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

27

Set Cam2 Sensor

Configuration - Table

43: Set Cam2 Sensor

Configuration

Command Format

15

368

16

Cam2 Sensor Mounting Transform

Alpha Angle

384

16

Cam2 Sensor Mounting Transform

Beta Angle

400

16

Cam2 Sensor Mounting Transform

Gamma Angle

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

28

Set Nadir Sensor

Mask Configuration 1

- Table 44: Set Nadir

Sensor Mask

Configuration 1

Command Format

8

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

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 53

29

Set Nadir Sensor

Mask Configuration 2

- Table 45: Set Nadir

Sensor Mask

Configuration 2

Command Format

8

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

30

Set Nadir Sensor

Mask Configuration 3

- Table 46: Set Nadir

Sensor Mask

Configuration 3

Command Format

8

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

31

Set Nadir Sensor

Mask Configuration 4

- Table 47: Set Nadir

Sensor Mask

Configuration 4

Command Format

8

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

32

Set Nadir Sensor

Mask Configuration 5

- Table 48: Set Nadir

Sensor Mask

Configuration 5

Command Format

8

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

33

Set Magnetometer

Mounting

Configuration - Table

49: Set Magnetometer

Mounting

6

808

16

Magnetometer Mounting Transform

Alpha Angle

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 54

Configuration

Command Format

824

16

Magnetometer Mounting Transform

Beta Angle

840

16

Magnetometer Mounting Transform

Gamma Angle

34

Set Magnetometer

Offset and Scaling

Configuration - Table

50: Set Magnetometer

Offset and Scaling

Configuration

Command Format

12

856

16

Magnetometer Channel 1 Offset

872

16

Magnetometer Channel 2 Offset

888

16

Magnetometer Channel 3 Offset

904

16

Magnetometer Sensitivity Matrix

S11

920

16

Magnetometer Sensitivity Matrix

S22

936

16

Magnetometer Sensitivity Matrix

S33

35

Set Magnetometer

Sensitivity

Configuration - Table

51: Set Magnetometer

Sensitivity

Configuration

Command Format

12

952

16

Magnetometer Sensitivity Matrix

S12

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: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 55

Configuration

Command Format

1064

16

Y-Rate Sensor Offset

1080

16

Z-Rate Sensor Offset

1096

8

RateSensorMult

37

Set Star Tracker

Configuration - Table

53: Set Star Tracker

Configuration

Command Format

26

1104

16

StarTracker Mounting Transform

Alpha Angle

1120

16

StarTracker Mounting Transform

Beta Angle

1136

16

StarTracker Mounting Transform

Gamma Angle

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

38

Set Detumbling

Control Parameters -

Table 54: Set

Detumbling Control

Parameters Command

Format

14

1312

32

Detumbling Spin Gain

1344

32

Detumbling Damping Gain

1376

16

Reference spin rate

1392

32

Fast BDot Detumbling Gain

39

Set Y-Wheel Control

Parameters - Table 55:

Set Y-Wheel Control

Parameters Command

Format

20

1424

32

Y-Momentum Control Gain

1456

32

Y-momentum Nutation Damping

Gain

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 56

1488

32

Y-momentum Proportional Gain

1520

32

Y-momentum Derivative Gain

1552

32

Reference Wheel Momentum

40

Set Reaction Wheel

Control Parameters -

Table 56: Set Reaction

Wheel Control

Parameters Command

Format

8

1584

32

RWheel Proportional Gain

1616

32

RWheel Derivative Gain

54

Set Tracking

Controller Gain

Parameters - Table 71:

Set Tracking

Controller Gain

Parameters Command

Format

12

1648

32

Tracking Proportional Gain

1680

32

Tracking Derivative Gain

1712

32

Tracking Integral Gain

41

Set Moments of

Inertia - Table 57: Set

Moments of Inertia

Command Format

12

1744

32

Moment Of Inertia - Ixx

1776

32

Moment Of Inertia - Iyy

1808

32

Moment Of Inertia - Izz

42

Set Products of Inertia

- Table 58: Set

Products of Inertia

Command Format

12

1840

32

Moment Of Inertia - Ixy

1872

32

Moment Of Inertia - Ixz

1904

32

Moment Of Inertia - Iyz

43

Set Estimation

Parameters 1 - Table

59: Set Estimation

Parameters 1

Command Format

16

1936

32

Magnetometer Rate Filter System

Noise

1968

32

EKF System Noise

2000

32

CSS Measurement Noise

2032

32

Sun Sensor Measurement Noise

44

Set Estimation

Parameters 2 - Table

60: Set Estimation

14

2064

32

Nadir Sensor Measurement Noise

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 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)

3

Description

Set magnetorquer configuration parameters

Parameters

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

8

Magnetorquer 1

Configuration

ENUM

Magnetorquer 1 Configuration.

Possible values are in Table 34:

AxisSelect Enumeration Values

8

Magnetorquer 2

Configuration

ENUM

Magnetorquer 2 Configuration.

Possible values are in Table 34:

AxisSelect Enumeration Values

16

8

Magnetorquer 3

Configuration

ENUM

Magnetorquer 3 Configuration.

Possible values are in Table 34:

AxisSelect Enumeration Values

Table 38: Set Wheel Configuration Command Format

ID

22

Parameters Length (bytes)

4

Description

Set wheel configuration parameters

Parameters

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

8

RW1 Configuration

ENUM

RW1 Configuration. Possible

values are in Table 34: AxisSelect

Enumeration Values

8

RW2 Configuration

ENUM

RW2 Configuration. Possible

values are in Table 34: AxisSelect

Enumeration Values

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 58

16

8

RW3 Configuration

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)

3

Description

Set rate gyro configuration parameters

Parameters

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

8

Gyro1

Configuration

ENUM

Gyro1 Configuration. Possible

values are in Table 34: AxisSelect

Enumeration Values

8

Gyro2

Configuration

ENUM

Gyro2 Configuration. Possible

values are in Table 34: AxisSelect

Enumeration Values

16

8

Gyro3

Configuration

ENUM

Gyro3 Configuration. Possible

values are in Table 34: AxisSelect

Enumeration Values

Table 40: Set CSS Alignment Configuration Command Format

ID

24

Parameters Length (bytes)

10

Description

Set photodiode pointing directions

Parameters

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

8

CSS1 Configuration

ENUM

CSS1 Configuration. Possible

values are in Table 34: AxisSelect

Enumeration Values

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: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 59

32

8

CSS5 Configuration

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

Configuration

ENUM

CSS10 Configuration. Possible

values are in Table 34: AxisSelect

Enumeration Values

Table 41: Set CSS Scale Factor Configuration Command Format

ID

25

Parameters Length (bytes)

11

Description

Set photodiode scale factors

Parameters

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

8

CSS1 Relative Scale

UINT

CSS1 Relative Scaling Factor. Raw

parameter value is obtained

using the formula: (raw

parameter) = (formatted

value)*100.0

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: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 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

Scale

UINT

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)

15

Description

Set Cam1 sensor configuration parameters

Parameters

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 61

0

16

Cam1 Sensor

Mounting

Transform Alpha

Angle

INT

Cam1 Sensor Mounting

Transform Alpha Angle. Raw

parameter value is obtained

using the formula: (raw

parameter) = (formatted

value)*100.0 (formatted value is

in [deg] units)

16

Cam1 Sensor

Mounting

Transform Beta

Angle

INT

Cam1 Sensor Mounting

Transform Beta Angle. Raw

parameter value is obtained

using the formula: (raw

parameter) = (formatted

value)*100.0 (formatted value is

in [deg] units)

32

16

Cam1 Sensor

Mounting

Transform Gamma

Angle

INT

Cam1 Sensor Mounting

Transform Gamma Angle. Raw

parameter value is obtained

using the formula: (raw

parameter) = (formatted

value)*100.0 (formatted value is

in [deg] units)

48

8

Cam1 detection

threshold

UINT

56

1

Cam1 sensor auto

adjust mode

BOOL

0 = disabled and 1 = enabled

64

16

Cam1 sensor

exposure time

UINT

exposure time register value

80

16

Cam1 Boresight X

UINT

X 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)

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: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 62

Table 43: Set Cam2 Sensor Configuration Command Format

ID

27

Parameters Length (bytes)

15

Description

Set Cam2 sensor configuration parameters

Parameters

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

Cam2 Sensor

Mounting

Transform Alpha

Angle

INT

Cam2 Sensor Mounting

Transform Alpha Angle. Raw

parameter value is obtained

using the formula: (raw

parameter) = (formatted

value)*100.0 (formatted value is

in [deg] units)

16

Cam2 Sensor

Mounting

Transform Beta

Angle

INT

Cam2 Sensor Mounting

Transform Beta Angle. Raw

parameter value is obtained

using the formula: (raw

parameter) = (formatted

value)*100.0 (formatted value is

in [deg] units)

32

16

Cam2 Sensor

Mounting

Transform Gamma

Angle

INT

Cam2 Sensor Mounting

Transform Gamma Angle. Raw

parameter value is obtained

using the formula: (raw

parameter) = (formatted

value)*100.0 (formatted value is

in [deg] units)

48

8

Cam2 detection

threshold

UINT

Cam2 detection threshold

56

1

Cam2 sensor auto

adjust mode

BOOL

0 = disabled and 1 = enabled

64

16

Cam2 sensor

exposure time

UINT

exposure time register value

80

16

Cam2 Boresight X

UINT

X 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)

96

16

Cam2 Boresight Y

UINT

Y Pixel location of Cam2

boresight. Raw parameter value

is obtained using the formula:

(raw parameter) = (formatted

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 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)

8

Description

Set Nadir Sensor Mask Configuration 1

Parameters

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

Minimum X of area

1

UINT

Minimum X of Area 1

16

Maximum X of area

1

UINT

Maximum X of Area 1

32

16

Minimum Y of area

1

UINT

Minimum Y of Area 1

48

16

Maximum Y of area

1

UINT

Maximum Y of Area 1

Table 45: Set Nadir Sensor Mask Configuration 2 Command Format

ID

29

Parameters Length (bytes)

8

Description

Set Nadir Sensor Mask Configuration 2

Parameters

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

Minimum X of area

2

UINT

Minimum X of Area 2

16

Maximum X of area

2

UINT

Maximum X of Area 2

32

16

Minimum Y of area

2

UINT

Minimum Y of Area 2

48

16

Maximum Y of area

2

UINT

Maximum Y of Area 2

Table 46: Set Nadir Sensor Mask Configuration 3 Command Format

ID

30

Parameters Length (bytes)

8

Description

Set Nadir Sensor Mask Configuration 3

Parameters

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 64

0

16

Minimum X of area

3

UINT

Minimum X of Area 3

16

Maximum X of area

3

UINT

Maximum X of Area 3

32

16

Minimum Y of area

3

UINT

Minimum Y of Area 3

48

16

Maximum Y of area

3

UINT

Maximum Y of Area 3

Table 47: Set Nadir Sensor Mask Configuration 4 Command Format

ID

31

Parameters Length (bytes)

8

Description

Set Nadir Sensor Mask Configuration 4

Parameters

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

Minimum X of area

4

UINT

Minimum X of Area 4

16

Maximum X of area

4

UINT

Maximum X of Area 4

32

16

Minimum Y of area

4

UINT

Minimum Y of Area 4

48

16

Maximum Y of area

4

UINT

Maximum Y of Area 4

Table 48: Set Nadir Sensor Mask Configuration 5 Command Format

ID

32

Parameters Length (bytes)

8

Description

Set Nadir Sensor Mask Configuration 5

Parameters

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

Minimum X of area

5

UINT

Minimum X of Area 5

16

Maximum X of area

5

UINT

Maximum X of Area 5

32

16

Minimum Y of area

5

UINT

Minimum Y of Area 5

48

16

Maximum Y of area

5

UINT

Maximum Y of Area 5

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 65

Table 49: Set Magnetometer Mounting Configuration Command Format

ID

33

Parameters Length (bytes)

6

Description

Set magnetometer mounting configuration parameters

Parameters

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

Magnetometer

Mounting

Transform Alpha

Angle

INT

Magnetometer Mounting

Transform Alpha Angle. Raw

parameter value is obtained

using the formula: (raw

parameter) = (formatted

value)*100.0 (formatted value is

in [deg] units)

16

Magnetometer

Mounting

Transform Beta

Angle

INT

Magnetometer Mounting

Transform Beta Angle. Raw

parameter value is obtained

using the formula: (raw

parameter) = (formatted

value)*100.0 (formatted value is

in [deg] units)

32

16

Magnetometer

Mounting

Transform Gamma

Angle

INT

Magnetometer Mounting

Transform Gamma Angle. Raw

parameter value is obtained using

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

Parameters Length (bytes)

12

Description

Set Magnetometer Offset and Scaling Configuration

Parameters

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

Magnetometer

Channel 1 Offset

INT

Magnetometer Channel 1 Offset.

Raw parameter value is obtained

using the formula: (raw

parameter) = (formatted

value)*1000.0

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: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 66

32

16

Magnetometer

Channel 3 Offset

INT

Magnetometer Channel 3 Offset.

Raw parameter value is obtained

using the formula: (raw

parameter) = (formatted

value)*1000.0

48

16

Magnetometer

Sensitivity Matrix

S11

INT

Magnetometer Sensitivity Matrix

S11. Raw parameter value is

obtained using the formula: (raw

parameter) = (formatted

value)*1000.0

64

16

Magnetometer

Sensitivity Matrix

S22

INT

Magnetometer Sensitivity Matrix

S22. Raw parameter value is

obtained using the formula: (raw

parameter) = (formatted

value)*1000.0

80

16

Magnetometer

Sensitivity Matrix

S33

INT

Magnetometer Sensitivity Matrix

S33. Raw parameter value is

obtained using the formula: (raw

parameter) = (formatted

value)*1000.0

Table 51: Set Magnetometer Sensitivity Configuration Command Format

ID

35

Parameters Length (bytes)

12

Description

Set Magnetometer Sensitivity Configuration

Parameters

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

Magnetometer

Sensitivity Matrix

S12

INT

Magnetometer Sensitivity Matrix

S12. Raw parameter value is

obtained using the formula: (raw

parameter) = (formatted

value)*1000.0

16

Magnetometer

Sensitivity Matrix

S13

INT

Magnetometer Sensitivity Matrix

S13. Raw parameter value is

obtained using the formula: (raw

parameter) = (formatted

value)*1000.0

32

16

Magnetometer

Sensitivity Matrix

S21

INT

Magnetometer Sensitivity Matrix

S21. Raw parameter value is

obtained using the formula: (raw

parameter) = (formatted

value)*1000.0

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 67

48

16

Magnetometer

Sensitivity Matrix

S23

INT

Magnetometer Sensitivity Matrix

S23. Raw parameter value is

obtained using the formula: (raw

parameter) = (formatted

value)*1000.0

64

16

Magnetometer

Sensitivity Matrix

S31

INT

Magnetometer Sensitivity Matrix

S31. Raw parameter value is

obtained using the formula: (raw

parameter) = (formatted

value)*1000.0

80

16

Magnetometer

Sensitivity Matrix

S32

INT

Magnetometer Sensitivity Matrix

S32. Raw parameter value is

obtained using the formula: (raw

parameter) = (formatted

value)*1000.0

Table 52: Set Rate Sensor Configuration Command Format

ID

36

Parameters Length (bytes)

7

Description

Set Rate Sensor Offsets

Parameters

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

X-Rate Sensor

Offset

INT

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

Y-Rate Sensor

Offset

INT

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

Offset

INT

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 rate sensor

measurement

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 68

Table 53: Set Star Tracker Configuration Command Format

ID

37

Parameters Length (bytes)

26

Description

Set configurations of CubeStar

Parameters

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

StarTracker

Mounting

Transform Alpha

Angle

INT

StarTracker Mounting Transform

Alpha Angle. Raw parameter

value is obtained using the

formula: (raw parameter) =

(formatted value)*100.0

(formatted value is in [deg] units)

16

StarTracker

Mounting

Transform Beta

Angle

INT

StarTracker Mounting Transform

Beta Angle. Raw parameter value

is obtained using the formula:

(raw parameter) = (formatted

value)*100.0 (formatted value is

in [deg] units)

32

16

StarTracker

Mounting

Transform Gamma

Angle

INT

StarTracker Mounting Transform

Gamma Angle. Raw parameter

value is obtained using the

formula: (raw parameter) =

(formatted value)*100.0

(formatted value is in [deg] units)

48

16

StarTracker

exposure time

UINT

exposure time register value

64

8

StarTracker

detection threshold

UINT

StarTracker detection threshold

72

8

StarTracker star

threshold

UINT

StarTracker star threshold

80

8

Maximum Star

Matched

UINT

Maximum of stars that the star

tracker will match

88

8

Maximum Star Pixel

UINT

Maximum pixels in a star

96

8

Maximum Star

Noise

UINT

Maximum star pixel noise

104

8

Minimum Star Pixel

UINT

Minimum pixels in a star

112

8

Star Tracker Error

Margin

UINT

% Error margin of the star

identification. Raw parameter

value is obtained using the

formula: (raw parameter) =

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 69

(formatted value)*100.0

(formatted value is in [%] units)

120

32

Star Tracker

Centroid X

FLOAT

Pixel centroid X

152

32

Star Tracker

Centroid Y

FLOAT

Pixel centroid Y

184

16

Star Tracker Focal

Length

UINT

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)

14

Description

Set controller gains and reference values for Detumbling control mode

Parameters

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

32

Detumbling Spin

Gain

FLOAT

Detumbling Spin Gain (Ks)

32

Detumbling

Damping Gain

FLOAT

Detumbling Damping Gain (Kd)

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

Detumbling Gain

FLOAT

Fast BDot Detumbling Gain (Kdf)

Table 55: Set Y-Wheel Control Parameters Command Format

ID

39

Parameters Length (bytes)

20

Description

Set controller gains and reference value for Y-wheel control mode

Parameters

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 70

0

32

Y-Momentum

Control Gain

FLOAT

Y-Momentum Control Gain (Kh)

32

Y-momentum

Nutation Damping

Gain

FLOAT

Y-momentum Nutation Damping

Gain (Kn)

64

32

Y-momentum

Proportional Gain

FLOAT

Y-momentum Proportional Gain

(Kp1)

96

32

Y-momentum

Derivative Gain

FLOAT

Y-momentum Derivative Gain

(Kd1)

128

32

Reference Wheel

Momentum

FLOAT

Reference Wheel Momentum (H-

ref). 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)

8

Description

Set controller gains and reference value for reaction wheel control mode

Parameters

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

32

RWheel

Proportional Gain

FLOAT

RWheel Proportional Gain (Kp2)

32

RWheel Derivative

Gain

FLOAT

RWheel Derivative Gain (Kd2)

Table 57: Set Moments of Inertia Command Format

ID

41

Parameters Length (bytes)

12

Description

Set satellite moments of inertia

Parameters

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

32

Moment Of Inertia

- Ixx

FLOAT

Moment Of Inertia - Ixx. (Unit of

measure is [kg.m^2])

32

Moment Of Inertia

- Iyy

FLOAT

Moment Of Inertia - Iyy. (Unit of

measure is [kg.m^2])

64

32

Moment Of Inertia -

Izz

FLOAT

Moment Of Inertia - Izz. (Unit of

measure is [kg.m^2])

Table 58: Set Products of Inertia Command Format

ID

42

Parameters Length (bytes)

12

Description

Set satellite products of inertia

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 71

Parameters

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

32

Moment Of Inertia

- Ixy

FLOAT

Moment Of Inertia - Ixy. (Unit of

measure is [kg.m^2])

32

Moment Of Inertia

- Ixz

FLOAT

Moment Of Inertia - Ixz. (Unit of

measure is [kg.m^2])

64

32

Moment Of Inertia -

Iyz

FLOAT

Moment Of Inertia - Iyz. (Unit of

measure is [kg.m^2])

Table 59: Set Estimation Parameters 1 Command Format

ID

43

Parameters Length (bytes)

16

Description

Set estimation noise covariance and sensor mask 1

Parameters

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

32

Magnetometer

Rate Filter System

Noise

FLOAT

Magnetometer Rate Filter

System Noise

32

EKF System Noise

FLOAT

EKF System Noise

64

32

CSS Measurement

Noise

FLOAT

CSS Measurement Noise

96

32

Sun Sensor

Measurement

Noise

FLOAT

Sun Sensor Measurement Noise

Table 60: Set Estimation Parameters 2 Command Format

ID

44

Parameters Length (bytes)

14

Description

Set estimation noise covariance and sensor mask 2

Parameters

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

32

Nadir Sensor

Measurement

Noise

FLOAT

Nadir Sensor Measurement

Noise

32

Magnetometer

Measurement

Noise

FLOAT

Magnetometer Measurement

Noise

64

32

Star Tracker

Measurement

Noise

FLOAT

Star Tracker Measurement Noise

96

1

Use Sun Sensor

BOOL

Use Sun Sensor measurement in

EKF

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 72

97

1

Use Nadir Sensor

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

Mode

ENUM

Mode describing which

magnetometer is used for

estimation and control. Possible

values are in Table 35:

MagModeVal Enumeration

Values

104

8

Cam1 and Cam2

Sampling Period

UINT

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

Parameters Length (bytes)

64

Description

SGP4 Orbit Parameters

Parameters

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

64

Inclination

DOUBLE

Inclination. (Unit of measure

is [deg])

64

Eccentricity

DOUBLE

Eccentricity

128

64

Right-ascension of

the Ascending

Node

DOUBLE

Right-ascension of the

Ascending Node. (Unit of

measure is [deg])

192

64

Argument of

Perigee

DOUBLE

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: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 73

Table 62: Parts of SGP4 Orbit Parameters command (ID 45), sent using shorter telecommands

ID

Partial Commands

Length

(bytes)

Bit

offset

Bit

length

Overlapping ADCS Configuration

Telecommand Parameters

46

Set SGP4 Orbit

Inclination - Table 63:

Set SGP4 Orbit

Inclination Command

Format

8

0

64

Inclination

47

Set SGP4 Orbit

Eccentricity - Table 64:

Set SGP4 Orbit

Eccentricity Command

Format

8

64

Eccentricity

48

Set SGP4 Orbit RAAN

- Table 65: Set SGP4

Orbit RAAN

Command Format

8

128

64

Right-ascension of the Ascending

Node

49

Set SGP4 Orbit

Argument of Perigee -

Table 66: Set SGP4

Orbit Argument of

Perigee Command

Format

8

192

64

Argument of Perigee

50

Set SGP4 Orbit B-Star

Drag term - Table 67:

Set SGP4 Orbit B-Star

Drag term Command

Format

8

256

64

B-Star drag term

51

Set SGP4 Orbit Mean

Motion - Table 68: Set

SGP4 Orbit Mean

Motion Command

Format

8

320

64

Mean Motion

52

Set SGP4 Orbit Mean

Anomaly - Table 69:

Set SGP4 Orbit Mean

Anomaly Command

Format

8

384

64

Mean Anomaly

53

Set SGP4 Orbit Epoch

- Table 70: Set SGP4

Orbit Epoch

Command Format

8

448

64

Epoch

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 74

Table 63: Set SGP4 Orbit Inclination Command Format

ID

46

Parameters Length

(bytes)

8

Description

Set SGP4 Orbit Inclination

Parameters

Offset

(bits)

Length

(bits)

Name

Data Type

Description

0

64

Inclination

DOUBLE

Inclination. (Unit of measure

is [deg])

Table 64: Set SGP4 Orbit Eccentricity Command Format

ID

47

Parameters Length (bytes)

8

Description

Set SGP4 Orbit Eccentricity

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

0

64

Eccentricity

DOUBLE

Eccentricity

Table 65: Set SGP4 Orbit RAAN Command Format

ID

48

Parameters Length (bytes)

8

Description

Set SGP4 Orbit RAAN

Parameters

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

64

Right-ascension of

the Ascending

Node

DOUBLE

Right-ascension of the

Ascending Node. (Unit of

measure is [deg])

Table 66: Set SGP4 Orbit Argument of Perigee Command Format

ID

49

Parameters Length

(bytes)

8

Description

Set SGP4 Orbit Argument of Perigee

Parameters

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

64

Argument of

Perigee

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: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 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

(bytes)

8

Description

Set SGP4 Orbit Mean Motion

Parameters

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

64

Mean

Motion

DOUBLE

Mean Motion. (Unit of measure

is [orbits/day])

Table 69: Set SGP4 Orbit Mean Anomaly Command Format

ID

52

Parameters Length

(bytes)

8

Description

Set SGP4 Orbit Mean Anomaly

Parameters

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

64

Mean

Anomaly

DOUBLE

Mean Anomaly. (Unit of

measure is [deg])

Table 70: Set SGP4 Orbit Epoch Command Format

ID

53

Parameters Length

(bytes)

8

Description

Set SGP4 Orbit Epoch

Parameters

Offset

(bits)

Length

(bits)

Name

Data Type

Description

0

64

Epoch

DOUBLE

Epoch (year.day). (Unit of

measure is [year.day])

Table 71: Set Tracking Controller Gain Parameters Command Format

ID

54

Parameters Length (bytes)

12

Description

Set controller gains for tracking control mode

Parameters

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 76

0

32

Tracking

Proportional Gain

FLOAT

Tracking Proportional Gain (Kp3)

32

Tracking Derivative

Gain

FLOAT

Tracking Derivative Gain (Kd3)

64

32

Tracking Integral

Gain

FLOAT

Tracking Integral Gain (Ki3)

Table 72: Tracking Controller Target Reference Command Format

ID

55

Parameters Length (bytes)

12

Description

Target reference for tracking control mode

Parameters

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

32

Geocentric

longitude of target

FLOAT

Geocentric longitude of target.

(Unit of measure is [deg])

32

Geocentric latitude

of target

FLOAT

Geocentric latitude of target.

(Unit of measure is [deg])

64

32

Geocentric altitude

of target

FLOAT

Geocentric altitude of target.

(Unit of measure is [meter])

Table 73: Set Mode of Magnetometer Operation Command Format

ID

56

Parameters Length

(bytes)

1

Description

Use of main or redundant magnetometer

Parameters

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

8

Magnetometer

Mode

ENUM

Mode describing which

magnetometer is 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)

3

Description

Convert raw or bmp files to JPG

Parameters

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

8

Source File Counter

UINT

Source File Counter

8

Quality Factor

UINT

Quality Factor

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 77

16

8

White Balance

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

Parameters Length (bytes)

0

Description

Save current orbit parameters to flash memory

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

(bits)

Length

(bits)

Name

Data

Type

Description

0

8

Camera Select

ENUM

Camera Selection. Possible

values are in Table 79: CamSelect

Enumeration Values

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: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 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)

13

Description

Log selection and period for LOG1

Parameters

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

80

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)

13

Description

Log selection and period for LOG2

Parameters

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

80

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: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 79

96

8

Log Destination

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)

12

Description

Log selection and period for UART (unsolicited TLM)

Parameters

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

80

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)

3

Description

Erase File

Parameters

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

8

File Type

ENUM

File Type. Possible values are in

Table 86: FileType Enumeration

Values

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: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 80

15

Index

Index File

Table 87: Load File Download Block Command Format

ID

112

Parameters Length (bytes)

8

Description

Fill download buffer with file contents

Parameters

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

8

File Type

ENUM

File Type. Possible values are in

Table 86: FileType Enumeration

Values

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)

0

Description

Advance File List Read Pointer

Table 89: Initiate File Upload Command Format

ID

114

Parameters Length (bytes)

2

Description

Initiate File Upload

Parameters

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

8

Destination

ENUM

Destination. Possible values are

in Table 90:

FileUploadDestination

Enumeration Values

8

BlockSize

UINT

Block Size

Table 90: FileUploadDestination Enumeration Values

Numeric Value

Name

Description

2

EEPROM

3

Flash program 1

4

Flash program 2

5

Flash program 3

6

Flash program 4

7

Flash program 5

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 81

8

Flash program 6

9

Flash program 7

10

SD User file 1

11

SD User file 2

12

SD User file 3

13

SD User file 4

14

SD User file 5

15

SD User file 6

16

SD User file 7

17

SD User file 8

Table 91: File Upload Packet Command Format

ID

115

Parameters Length (bytes)

22

Description

File Upload Packet

Parameters

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

Packet Number

UINT

Packet Number

16

160

File Bytes

ARRAY

File Bytes

Table 92: Finalize Upload Block Command Format

ID

116

Parameters Length (bytes)

7

Description

Finalize Uploaded File Block

Parameters

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

8

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)

0

Description

Reset HoleMap for Upload Block

Table 94: Reset File List Read Pointer Command Format

ID

118

Parameters Length (bytes)

0

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 82

Description

Reset File List Read Pointer

Table 95: Initiate Download Burst Command Format

ID

119

Parameters Length (bytes)

2

Description

Initiate Download Burst

Parameters

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

8

Message Length

UINT

Message Length

8

1

Ignore Hole Map

BOOL

Ignore Hole Map

Table 96: Hole Map 1 Command Format

ID

120

Parameters Length (bytes)

16

Description

File Upload Hole Map 1

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

0

128

Hole Map

ARRAY

Hole Map

Table 97: Hole Map 2 Command Format

ID

121

Parameters Length (bytes)

16

Description

File Upload Hole Map 2

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

0

128

Hole Map

ARRAY

Hole Map

Table 98: Hole Map 3 Command Format

ID

122

Parameters Length (bytes)

16

Description

File Upload Hole Map 3

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

0

128

Hole Map

ARRAY

Hole Map

Table 99: Hole Map 4 Command Format

ID

123

Parameters Length (bytes)

16

Description

File Upload Hole Map 4

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

0

128

Hole Map

ARRAY

Hole Map

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 83

Table 100: Hole Map 5 Command Format

ID

124

Parameters Length (bytes)

16

Description

File Upload Hole Map 5

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

0

128

Hole Map

ARRAY

Hole Map

Table 101: Hole Map 6 Command Format

ID

125

Parameters Length (bytes)

16

Description

File Upload Hole Map 6

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

0

128

Hole Map

ARRAY

Hole Map

Table 102: Hole Map 7 Command Format

ID

126

Parameters Length (bytes)

16

Description

File Upload Hole Map 7

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

0

128

Hole Map

ARRAY

Hole Map

Table 103: Hole Map 8 Command Format

ID

127

Parameters Length (bytes)

16

Description

File Upload Hole Map 8

Parameters

Offset (bits)

Length (bits)

Name

Data Type

Description

0

128

Hole Map

ARRAY

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 -

Table 105: Identification Telemetry Format

8

129

Unix Time Save to Flash

Configuration settings for unixtime flash

memory persistence - Table 106: Unix Time

Save to Flash Telemetry Format

2

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 84

130

Boot Index and Status

Current selected boot index and status of last

boot - Table 107: Boot Index and Status

Telemetry Format

2

131

Cache enabled state

Cache enabled state - Table 110: Cache

enabled state Telemetry Format

1

132

Boot And Running Program Status

Boot And Running Program Status - Table

111: Boot And Running Program Status

Telemetry Format

6

133

JPG Conversion Progress

Conversion progress - Table 114: JPG

Conversion Progress Telemetry Format

3

134

SRAM Scrub Parameters

SRAM scrubbing size - Table 116: SRAM

Scrub Parameters Telemetry Format

2

135

CubeACP State

Contains flags regarding the state of the ACP

- Table 117: CubeACP State Telemetry Format

1

140

Current Unix Time

Current Unix Time - Table 118: Current Unix

Time Telemetry Format

6

141

Last Logged Event

Last Logged Event (relative to pointer -

adjusted via Advance and Reset TCs (3 & 4) -

Table 119: Last Logged Event Telemetry

Format

6

142

SRAM Latchup counters

SRAM Latchup counters - Table 120: SRAM

Latchup counters Telemetry Format

6

143

EDAC Error Counters

EDAC Error Counters - Table 121: EDAC Error

Counters Telemetry Format

6

144

Communication Status

Communication status - includes command

and telemetry counters and error flags - Table

122: Communication Status Telemetry Format

6

145

Current ADCS State

Current state of the Attitude Control

Processor - Table 123: Current ADCS State

Telemetry Format

6

146

Estimated Attitude Angles

Estimated attitude angles - Table 124:

Estimated Attitude Angles Telemetry Format

6

147

Estimated Angular Rates

Estimated angular rates relative to orbit

reference frame - Table 125: Estimated

Angular Rates Telemetry Format

6

148

Satellite Position (ECI)

Satellite position in ECI frame - Table 126:

Satellite Position (ECI) Telemetry Format

6

149

Satellite Velocity (ECI)

Satellite velocity in ECI frame - Table 127:

Satellite Velocity (ECI) Telemetry Format

6

150

Satellite Position (LLH)

Satellite position in WGS-84 coordinate frame

- Table 128: Satellite Position (LLH) Telemetry

Format

6

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 85

151

Magnetic Field Vector

Measured magnetic field vector - Table 129:

Magnetic Field Vector Telemetry Format

6

152

Coarse Sun Vector

Measured coarse sun vector - Table 130:

Coarse Sun Vector Telemetry Format

6

153

Fine Sun Vector

Measured fine sun vector - Table 131: Fine

Sun Vector Telemetry Format

6

154

Nadir Vector

Measured nadir vector - Table 132: Nadir

Vector Telemetry Format

6

155

Rate Sensor Rates

Rate sensor measurements - Table 133: Rate

Sensor Rates Telemetry Format

6

156

Wheel Speed

Wheel speed measurement - Table 134:

Wheel Speed Telemetry Format

6

157

Magnetorquer Command

Magnetorquer commands - Table 135:

Magnetorquer Command Telemetry Format

6

158

Wheel Speed Commands

Wheel speed commands - Table 136: Wheel

Speed Commands Telemetry Format

6

159

IGRF Modelled Magnetic Field

Vector

IGRF modelled magnetic field vector (orbit

frame referenced) - Table 137: IGRF Modelled

Magnetic Field Vector Telemetry Format

6

160

Modelled Sun Vector

Modelled sun vector (orbit frame referenced)

- Table 138: Modelled Sun Vector Telemetry

Format

6

161

Estimated Gyro Bias

Estimated rate sensor bias - Table 139:

Estimated Gyro Bias Telemetry Format

6

162

Estimation Innovation Vector

Estimation innovation vector - Table 140:

Estimation Innovation Vector Telemetry

Format

6

163

Quaternion Error Vector

Quaternion error vector - Table 141:

Quaternion Error Vector Telemetry Format

6

164

Quaternion Covariance

Quaternion covariance - Table 142:

Quaternion Covariance Telemetry Format

6

165

Angular Rate Covariance

Angular rate covariance - Table 143: Angular

Rate Covariance Telemetry Format

6

166

Raw Cam2 Sensor

Cam2 sensor capture and detection result -

Table 144: Raw Cam2 Sensor Telemetry

Format

6

167

Raw Cam1 Sensor

Cam1 sensor capture and detection result -

Table 147: Raw Cam1 Sensor Telemetry

Format

6

168

Raw CSS 1 to 6

Raw CSS measurements 1 to 6 - Table 148:

Raw CSS 1 to 6 Telemetry Format

6

169

Raw CSS 7 to 10

Raw CSS measurements 7 to 10 - Table 149:

Raw CSS 7 to 10 Telemetry Format

6

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 86

170

Raw Magnetometer

Raw magnetometer measurements - Table

150: Raw Magnetometer Telemetry Format

6

171

CubeSense Current Measurements

CubeSense current measurements - Table

151: CubeSense Current Measurements

Telemetry Format

6

172

CubeControl Current

Measurements

CubeControl current measurements - Table

152: CubeControl Current Measurements

Telemetry Format

6

173

Wheel Currents

XYZ Wheel current measurement - Table 153:

Wheel Currents Telemetry Format

6

174

ADCS Temperatures

Magnetometer + MCU temperature

measurements - Table 154: ADCS

Temperatures Telemetry Format

6

175

Rate sensor temperatures

Rate sensor temperatures - Table 155: Rate

sensor temperatures Telemetry Format

6

176

Raw GPS Status

Raw GPS status - Table 156: Raw GPS Status

Telemetry Format

6

177

Raw GPS Time

Raw GPS time - Table 158: Raw GPS Time

Telemetry Format

6

178

Raw GPS X

Raw GPS X position and velocity (ECI

referenced) - Table 159: Raw GPS X Telemetry

Format

6

179

Raw GPS Y

Raw GPS Y position and velocity (ECI

referenced) - Table 160: Raw GPS Y Telemetry

Format

6

180

Raw GPS Z

Raw GPS Z position and velocity (ECI

referenced) - Table 161: Raw GPS Z Telemetry

Format

6

181

Star 1 Body Vector

Star 1 Body Vector - Table 162: Star 1 Body

Vector Telemetry Format

6

182

Star 2 Body Vector

Star 2 Body Vector - Table 163: Star 2 Body

Vector Telemetry Format

6

183

Star 3 Body Vector

Star 3 Body Vector - Table 164: Star 3 Body

Vector Telemetry Format

6

184

Star 1 Orbit Vector

Star 1 Orbit Vector - Table 165: Star 1 Orbit

Vector Telemetry Format

6

185

Star 2 Orbit Vector

Star 2 Orbit Vector - Table 166: Star 2 Orbit

Vector Telemetry Format

6

186

Star 3 Orbit Vector

Star 3 Orbit Vector - Table 167: Star 3 Orbit

Vector Telemetry Format

6

187

Star Magnitude

Instrument magnitude of identified stars -

Table 168: Star Magnitude Telemetry Format

6

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 87

188

Star Performance

Performance parameters of star measurement

- Table 169: Star Performance Telemetry

Format

6

189

Star Timing

Timing information of star measurement -

Table 171: Star Timing Telemetry Format

6

190

ADCS State

Current ADCS state - Table 172: ADCS State

Telemetry Format

48

191

ADCS Measurements

Calibrated sensor measurements - Table 174:

ADCS Measurements Telemetry Format

72

192

Actuator Commands

Actuator commands - Table 176: Actuator

Commands Telemetry Format

12

193

Estimation Data

Estimation meta-data - Table 178: Estimation

Data Telemetry Format

42

194

Raw Sensor Measurements

Raw sensor measurements - Table 180: Raw

Sensor Measurements Telemetry Format

28

195

Power and Temperature

Measurements

Power and temperature measurements -

Table 182: Power and Temperature

Measurements Telemetry Format

34

196

Adcs Execution Times

Returns information about execution times of

ACP functions - Table 184: Adcs Execution

Times Telemetry Format

8

197

ADCS Power Control

Control power to selected components -

Table 185: ADCS Power Control Telemetry

Format

3

198

ADCS Misc Current Measurements

CubeStar and Torquer current measurements

- Table 186: ADCS Misc Current

Measurements Telemetry Format

6

199

Commanded Attitude Angles

Commanded attitude angles - Table 187:

Commanded Attitude Angles Telemetry

Format

6

200

Tracking Controller Target

Reference

Target reference for tracking control mode -

Table 188: Tracking Controller Target

Reference Telemetry Format

12

206

ADCS Configuration

Current configuration - Table 189: ADCS

Configuration Telemetry Format

272

207

SGP4 Orbit Parameters

SGP4 Orbit Parameters - Table 190: SGP4

Orbit Parameters Telemetry Format

64

210

Raw GPS Measurements

Raw GPS measurements - Table 191: Raw GPS

Measurements Telemetry Format

36

211

Raw Star Tracker

Raw Star Tracker Measurement - Table 193:

Raw Star Tracker Telemetry Format

36

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 88

212

Star 1 Raw Data

Catalogue index and detected coordinates for

star 1 - Table 195: Star 1 Raw Data Telemetry

Format

6

213

Star 2 Raw Data

Catalogue index and detected coordinates for

star 2 - Table 196: Star 2 Raw Data Telemetry

Format

6

214

Star 3 Raw Data

Catalogue index and detected coordinates for

star 3 - Table 197: Star 3 Raw Data Telemetry

Format

6

215

Redundant Magnetometer Raw

Measurements

Redundant Magnetometer raw measurements

- Table 198: Redundant Magnetometer Raw

Measurements Telemetry Format

6

218

Estimated Quaternion

Estimated quaternion set - Table 199:

Estimated Quaternion Telemetry Format

6

219

ECEF Position

Satellite position in ECEF coordinates - Table

200: ECEF Position Telemetry Format

6

220

ACP Execution State

Returns information about the ACP loop -

Table 201: ACP Execution State Telemetry

Format

3

233

Status of Image Capture and Save

Operation

Status of Image Capture and Save Operation -

Table 203: Status of Image Capture and Save

Operation Telemetry Format

2

235

SD Log1 Configuration

Log selection and period for LOG1 - Table

205: SD Log1 Configuration Telemetry Format

13

236

SD Log2 Configuration

Log selection and period for LOG2 - Table

206: SD Log2 Configuration Telemetry Format

13

237

UART Log Configuration

Log selection and period for UART

(unsolicited TLM) - Table 207: UART Log

Configuration Telemetry Format

12

240

Telecommand Acknowledge

Telemetry frame with acknowledge status of

the previously sent command - Table 208:

Telecommand Acknowledge Telemetry

Format

4

241

File Download Buffer with File

Contents

File Download buffer 20-byte packet - Table

210: File Download Buffer with File Contents

Telemetry Format

22

242

Download Block Ready

Status about download block preparation -

Table 211: Download Block Ready Telemetry

Format

5

243

File Information

File Information - Table 212: File Information

Telemetry Format

12

244

Initialize Upload Complete

Initialize Upload Complete - Table 213:

Initialize Upload Complete Telemetry Format

1

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 89

245

Upload Block Complete

Finalize Upload Block Complete - Table 214:

Upload Block Complete Telemetry Format

1

246

Block Checksum

File upload Block CRC16 Checksum - Table

215: Block Checksum Telemetry Format

2

247

Hole Map 1

File Upload Hole Map 1 - Table 216: Hole

Map 1 Telemetry Format

16

248

Hole Map 2

File Upload Hole Map 2 - Table 217: Hole

Map 2 Telemetry Format

16

249

Hole Map 3

File Upload Hole Map 3 - Table 218: Hole

Map 3 Telemetry Format

16

250

Hole Map 4

File Upload Hole Map 4 - Table 219: Hole

Map 4 Telemetry Format

16

251

Hole Map 5

File Upload Hole Map 5 - Table 220: Hole

Map 5 Telemetry Format

16

252

Hole Map 6

File Upload Hole Map 6 - Table 221: Hole

Map 6 Telemetry Format

16

253

Hole Map 7

File Upload Hole Map 7 - Table 222: Hole

Map 7 Telemetry Format

16

254

Hole Map 8

File Upload Hole Map 8 - Table 223: Hole

Map 8 Telemetry Format

16

Table 105: Identification Telemetry Format

ID

128

Frame Length (bytes)

8

Description

Identification information for this node

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

8

Node type

UINT

Node type identifier.

8

Interface version

UINT

Interface version. This field

should have a value of 1

16

8

Firmware version

(Major)

UINT

Firmware version (Major)

24

8

Firmware version

(Minor)

UINT

Firmware version (Minor)

32

16

Runtime (seconds)

UINT

Number of seconds since

processor start-up

48

16

Runtime

(milliseconds)

UINT

Number of milliseconds (after the

integer second) since processor

start-up

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 90

Table 106: Unix Time Save to Flash Telemetry Format

ID

129

Frame Length (bytes)

2

Description

Configuration settings for unixtime flash memory persistence

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

1

Save Now

BOOL

Save current unixtime to flash

memory

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

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)

2

Description

Current selected boot index and status of last boot

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

8

Program Index

ENUM

Program Index. Possible values

are in Table 108:

BootProgramsList Enumeration

Values

8

Boot Status

ENUM

Boot Status. Possible values are in

Table 109: BootStatus

Enumeration Values

Table 108: BootProgramsList Enumeration Values

Numeric Value

Name

Description

0

Bootloader

1

Internal Flash Program

2

EEPROM

3

External Flash Program 1

4

External Flash Program 2

5

External Flash Program 3

6

External Flash Program 4

7

External Flash Program 5

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 91

8

External Flash Program 6

9

External Flash Program 7

Table 109: BootStatus Enumeration Values

Numeric Value

Name

Description

0

New Selection

1

Boot Success

2

1 Failed boot attempt

3

2 Failed boot attempts

4

3 Failed boot attempts

Table 110: Cache enabled state Telemetry Format

ID

131

Frame Length (bytes)

1

Description

Cache enabled state

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

0

1

Enabled state

BOOL

Enabled state

Table 111: Boot And Running Program Status Telemetry Format

ID

132

Frame Length (bytes)

6

Description

Boot And Running Program Status

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

4

Cause of MCU

Reset

ENUM

Cause of MCU reset. Possible

values are in Table 112:

ResetCause Enumeration Values

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

Index

ENUM

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: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 92

40

8

Firmware version

(Minor)

UINT

Firmware version (Minor)

Table 112: ResetCause Enumeration Values

Numeric Value

Name

Description

0

Power-On Reset

1

Brown-Out Detected on Regulated

Power

Brown-Out Detected on Regulated Power

2

Brown-Out Detected on

Unregulated Power

Brown-Out Detected on Unregulated

Power

3

External Watchdog Reset

4

External Reset

5

Watchdog Reset

6

Lockup System Reset

7

Lockup Reset

8

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

Brown-Out Vdd Regulated

Backup Mode reset and Backup domain

brown-out on VDD regulated

12

BackupModeRST and Backup

Brown-Out Vdd Regulated and

Brown-Out Regulated

Backup Mode reset and Backup domain

brown-out on VDD regulated and brown

out on regulated

13

Backup Mode RST and Watchdog

Reset

Backup mode reset and Watchdog reset

14

Backup Brown-Out Buvin and

System Request Reset

Backup Domain brown-out on BUVIN and

System request reset.

15

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: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 93

Table 114: JPG Conversion Progress Telemetry Format

ID

133

Frame Length (bytes)

3

Description

Conversion progress

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

8

Progress

Percentage

UINT

Progress %

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

1

Success

2

File Load Error

3

Busy

Table 116: SRAM Scrub Parameters Telemetry Format

ID

134

Frame Length (bytes)

2

Description

SRAM scrubbing size

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

0

16

Scrub Size

UINT

Scrub Size

Table 117: CubeACP State Telemetry Format

ID

135

Frame Length (bytes)

1

Description

Contains flags regarding the state of the ACP

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

1

ADCS Config Load

Error

BOOL

Flag to indicate that the ADCS

configuartion was not read

successfully out of flash

1

Orbit Parameter

Load Error

BOOL

Flag to indicate that the Orbit

parameters were not read

successfully out of flash

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 94

Table 118: Current Unix Time Telemetry Format

ID

140

Frame Length (bytes)

6

Description

Current Unix Time

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

32

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)

6

Description

Last Logged Event (relative to pointer - adjusted via Advance and Reset TCs (3 & 4)

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

32

Time of Event

UINT

32

8

Event ID

UINT

Event ID

40

8

Event Parameter

UINT

Event Parameter

Table 120: SRAM Latchup counters Telemetry Format

ID

142

Frame Length (bytes)

6

Description

SRAM Latchup counters

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

SRAM1 latchups

UINT

The number of SRAM1 latchups

detected

16

SRAM2 latchups

UINT

The number of SRAM2 latchups

detected

Table 121: EDAC Error Counters Telemetry Format

ID

143

Frame Length (bytes)

6

Description

EDAC Error Counters

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

Single SRAM upsets

UINT

The number of single SRAM

upsets (per byte) detected

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 95

16

Double SRAM

upsets

UINT

The number of double SRAM

upsets (per byte) detected

32

16

Multiple SRAM

upsets

UINT

The number of multiple SRAM

upsets (per byte) deteced

Table 122: Communication Status Telemetry Format

ID

144

Frame Length (bytes)

6

Description

Communication status - includes command and telemetry counters and error flags

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

Telecommand

counter

UINT

No. of telecommands received

16

Telemetry request

counter

UINT

No. of telemetry requests

received

32

1

Telecommand

buffer overrun

BOOL

TC buffer was overrun while

receiving a telecommand

33

1

UART protocol

error

BOOL

UART protocol error occurred

34

1

UART incomplete

message

BOOL

UART start-of-message identifier

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

buffer error

BOOL

Telecommand sent exceeds

buffer size

37

1

CAN telecommand

buffer error

BOOL

Telecommand sent exceeds

buffer size

Table 123: Current ADCS State Telemetry Format

ID

145

Frame Length (bytes)

6

Description

Current state of the Attitude Control Processor

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

4

Attitude Estimation

Mode

ENUM

Current attitude estimation

mode. Possible values are in

Table 27: EstimModeSelect

Enumeration Values

4

Control Mode

ENUM

Current attitude control mode.

Possible values are in Table 25:

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 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

Enabled

BOOL

CubeControl Signal electronics

enabled status

11

1

CubeControl Motor

Enabled

BOOL

CubeControl Motor electronics

enabled status

12

1

CubeSense Enabled

BOOL

CubeSense enabled status

13

1

CubeWheel1

Enabled

BOOL

CubeWheel1 enabled status

14

1

CubeWheel2

Enabled

BOOL

CubeWheel2 enabled status

15

1

CubeWheel3

Enabled

BOOL

CubeWheel3 enabled status

16

1

CubeStar Enabled

BOOL

CubeStar enabled status

17

1

GPS Receiver

Enabled

BOOL

GPS Receiver enabled status

18

1

GPS LNA Power

Enabled

BOOL

GPS Antenna LNA enabled status

19

1

Motor Driver

Enabled

BOOL

Motor Driver Electronics enabled

status

20

1

Sun is Above Local

Horizon

BOOL

Sun is above the local horizon

(elevation > 0)

21

1

CubeSense

Communications

Error

BOOL

Communication error occurred

with the CubeSense

22

1

CubeControl Signal

Communications

Error

BOOL

Communication error occurred

with the CubeControl Signal

MCU

23

1

CubeControl Motor

Communications

Error

BOOL

Communication error occurred

with the CubeControl Motor

MCU

24

1

CubeWheel1

Communications

Error

BOOL

Communication error occurred

with the CubeWheel1

25

1

CubeWheel2

Communications

Error

BOOL

Communication error occurred

with the CubeWheel2

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 97

26

1

CubeWheel3

Communications

Error

BOOL

Communication error occurred

with the CubeWheel3

27

1

CubeStar

Communications

Error

BOOL

Communication error occurred

with the CubeStar

28

1

Magnetometer

Range Error

BOOL

Magnetometer measured

magnetic field with size < 100 nT

or >100,000nT

29

1

Cam1 Sensor

Overcurrent

Detected

BOOL

Cam1 sensor overcurrent

detected

30

1

Cam1 Sensor Busy

Error

BOOL

Cam1 sensor was not idle at the

start of ADCS loop

31

1

Cam1 Sensor

Detection Error

BOOL

Cam1 sensor was unable to

compute angles (could be not in

FOV)

32

1

Sun Sensor Range

Error

BOOL

Detected sun angles were

outside of +/- 90 deg

33

1

Cam2 Sensor

Overcurrent

Detected

BOOL

Cam2 sensor overcurrent

detected

34

1

Cam2 Sensor Busy

Error

BOOL

Cam2 sensor was not idle at the

start of ADCS loop

35

1

Cam2 Sensor

Detection Error

BOOL

Cam2 sensor was unable to

compute angles (could be not in

FOV)

36

1

Nadir Sensor Range

Error

BOOL

Detected nadir angles were

outside of +/- 60 deg

37

1

Rate Sensor Range

Error

BOOL

Measured XYZ-body rate is

outside of the range +/-20 deg/s

38

1

Wheel Speed

Range Error

BOOL

Wheel XYZ speed measurement

was outside the range +/-8500

rpm

39

1

Coarse Sun Sensor

Error

BOOL

Unable to compute Coarse Sun

vector (could be not in FOV)

40

1

StarTracker Match

Error

BOOL

Unable to obtain enough

matched stars

41

1

Star Tracker

Overcurrent

Detected

BOOL

Star tracker overcurrent detected

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 98

42

1

Orbit Parameters

are Invalid

BOOL

Orbit Parameters are not in

allowed bounds (angle

exceeding limits etc.). Failed to

initialize SGP4 propagator using

supplied parameters

43

1

Configuration is

Invalid

BOOL

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

Change is not

allowed

BOOL

Attempt was made to select

control mode without

appropriate estimator, or

command to set Y-momentum

mode while not in steady-state

Y-Thomson

45

1

Estimator Change is

not allowed

BOOL

Attempt was made to change to

an estimation mode that would

be inapropriate for the current

control mode

46

1

Modelled and

measured magnetic

field differs in size

BOOL

Modelled and measured

magnetic field differs in size by

more than 5000 nT

47

1

Node Recovery

Error

BOOL

Failed to Recover an ADCS Node

by successive resets

Table 124: Estimated Attitude Angles Telemetry Format

ID

146

Frame Length (bytes)

6

Description

Estimated attitude angles

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

Estimated Roll

Angle

INT

Estimated roll angle. Formatted

value is obtained using the

formula: (formatted value) [deg]

= RAWVAL*0.01

16

Estimated Pitch

Angle

INT

Estimated pitch angle. Formatted

value is obtained using the

formula: (formatted value) [deg]

= RAWVAL*0.01

32

16

Estimated Yaw

Angle

INT

Estimated yaw angle. Formatted

value is obtained using the

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 99

formula: (formatted value) [deg]

= RAWVAL*0.01

Table 125: Estimated Angular Rates Telemetry Format

ID

147

Frame Length (bytes)

6

Description

Estimated angular rates relative to orbit reference frame

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

Estimated X

Angular Rate

INT

Estimated X angular rate.

Formatted value is obtained

using the formula: (formatted

value) [deg/s] = RAWVAL*0.01

16

Estimated Y

Angular Rate

INT

Estimated Y angular rate.

Formatted value is obtained

using the formula: (formatted

value) [deg/s] = RAWVAL*0.01

32

16

Estimated Z Angular

Rate

INT

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

Frame Length (bytes)

6

Description

Satellite position in ECI frame

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

X position

INT

ECI referenced X coordinate .

Formatted value is obtained

using the formula: (formatted

value) [km] = RAWVAL*0.25

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: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 100

Table 127: Satellite Velocity (ECI) Telemetry Format

ID

149

Frame Length (bytes)

6

Description

Satellite velocity in ECI frame

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

X Velocity

INT

ECI referenced X velocity .

Formatted value is obtained

using the formula: (formatted

value) [m/s] = RAWVAL*0.25

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)

6

Description

Satellite position in WGS-84 coordinate frame

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

Latitude

INT

WGS-84 Latitude angle .

Formatted value is obtained

using the formula: (formatted

value) [deg] = RAWVAL*0.01

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 value) [km] =

RAWVAL*0.01

Table 129: Magnetic Field Vector Telemetry Format

ID

151

Frame Length (bytes)

6

Description

Measured magnetic field vector

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 101

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

Magnetic Field X

INT

Magnetic Field X. Formatted

value is obtained using the

formula: (formatted value) [uT] =

RAWVAL*0.01

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)

6

Description

Measured coarse sun vector

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

Coarse Sun X

INT

Coarse Sun X. Formatted value is

obtained using the formula:

(formatted value) =

RAWVAL/10000.0

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 the formula:

(formatted value) =

RAWVAL/10000.0

Table 131: Fine Sun Vector Telemetry Format

ID

153

Frame Length (bytes)

6

Description

Measured fine sun vector

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

Sun X

INT

Sun X. Formatted value is

obtained using the formula:

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 102

(formatted value) =

RAWVAL/10000.0

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 value is

obtained using the formula:

(formatted value) =

RAWVAL/10000.0

Table 132: Nadir Vector Telemetry Format

ID

154

Frame Length (bytes)

6

Description

Measured nadir vector

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

Nadir X

INT

Nadir X. Formatted value is

obtained using the formula:

(formatted value) =

RAWVAL/10000.0

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 the formula:

(formatted value) =

RAWVAL/10000.0

Table 133: Rate Sensor Rates Telemetry Format

ID

155

Frame Length (bytes)

6

Description

Rate sensor measurements

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

X Angular Rate

INT

X Angular Rate. Formatted value

is obtained using the formula:

(formatted value) [deg/s] =

RAWVAL*0.01

16

Y Angular Rate

INT

Y Angular Rate. Formatted value

is obtained using the formula:

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 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)

6

Description

Wheel speed measurement

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

X Wheel Speed

INT

X Wheel Speed. (Unit of measure

is [rpm])

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)

6

Description

Magnetorquer commands

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

X Magnetorquer

Command

INT

X Magnetorquer Commanded

on-time. (Unit of measure is

[10ms units])

16

Y Magnetorquer

Command

INT

Y Magnetorquer Commanded

on-time. (Unit of measure is

[10ms units])

32

16

Z Magnetorquer

Command

INT

Z Magnetorquer Commanded

on-time. (Unit of measure is

[10ms units])

Table 136: Wheel Speed Commands Telemetry Format

ID

158

Frame Length (bytes)

6

Description

Wheel speed commands

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 104

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

X Wheel Speed

INT

X Wheel Speed. (Unit of measure

is [rpm])

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)

6

Description

IGRF modelled magnetic field vector (orbit frame referenced)

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

IGRF Modelled

Magnetic Field X

INT

IGRF Modelled Magnetic Field X.

Formatted value is obtained

using the formula: (formatted

value) [uT] = RAWVAL*0.01

16

IGRF Modelled

Magnetic Field Y

INT

IGRF Modelled Magnetic Field Y.

Formatted value is obtained

using the formula: (formatted

value) [uT] = RAWVAL*0.01

32

16

IGRF Modelled

Magnetic Field Z

INT

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)

6

Description

Modelled sun vector (orbit frame referenced)

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

Modelled Sun

Vector X

INT

Modelled Sun Vector X.

Formatted value is obtained

using the formula: (formatted

value) = RAWVAL/10000.0

16

Modelled Sun

Vector Y

INT

Modelled Sun Vector Y.

Formatted value is obtained

using the formula: (formatted

value) = RAWVAL/10000.0

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 105

32

16

Modelled Sun

Vector Z

INT

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)

6

Description

Estimated rate sensor bias

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

Estimated X-gyro

Bias

INT

Estimated X-gyro Bias. Formatted

value is obtained using the

formula: (formatted value)

[deg/s] = RAWVAL*0.001

16

Estimated Y-gyro

Bias

INT

Estimated Y-gyro Bias. Formatted

value is obtained using the

formula: (formatted value)

[deg/s] = RAWVAL*0.001

32

16

Estimated Z-gyro

Bias

INT

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)

6

Description

Estimation innovation vector

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

Innovation Vector X

INT

Innovation Vector X. Formatted

value is obtained using the

formula: (formatted value) =

RAWVAL*0.0001

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 using the

formula: (formatted value) =

RAWVAL*0.0001

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 106

Table 141: Quaternion Error Vector Telemetry Format

ID

163

Frame Length (bytes)

6

Description

Quaternion error vector

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

Quaternion Error -

Q1

INT

Quaternion Error - Q1. Formatted

value is obtained using the

formula: (formatted value) =

RAWVAL*0.0001

16

Quaternion Error -

Q2

INT

Quaternion Error - Q2. Formatted

value is obtained using the

formula: (formatted value) =

RAWVAL*0.0001

32

16

Quaternion Error -

Q3

INT

Quaternion Error - Q3. Formatted

value is obtained using the

formula: (formatted value) =

RAWVAL*0.0001

Table 142: Quaternion Covariance Telemetry Format

ID

164

Frame Length (bytes)

6

Description

Quaternion covariance

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

Quaternion

Covariance - Q1

RMS

INT

Quaternion Covariance - Q1

RMS. Formatted value is

obtained using the formula:

(formatted value) =

RAWVAL*0.001

16

Quaternion

Covariance - Q2

RMS

INT

Quaternion Covariance - Q2

RMS. Formatted value is

obtained using the formula:

(formatted value) =

RAWVAL*0.001

32

16

Quaternion

Covariance - Q3

RMS

INT

Quaternion Covariance - Q3 RMS.

Formatted value is obtained using

the formula: (formatted value) =

RAWVAL*0.001

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 107

Table 143: Angular Rate Covariance Telemetry Format

ID

165

Frame Length (bytes)

6

Description

Angular rate covariance

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

X Angular Rate

Covariance

INT

X Angular Rate Covariance.

Formatted value is obtained

using the formula: (formatted

value) = RAWVAL*0.001

16

Y Angular Rate

Covariance

INT

Y Angular Rate Covariance.

Formatted value is obtained

using the formula: (formatted

value) = RAWVAL*0.001

32

16

Z Angular Rate

Covariance

INT

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)

6

Description

Cam2 sensor capture and detection result

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

Cam2 centroid X

INT

Cam2 azimuth angle

16

Cam2 centroid Y

INT

Cam2 elevation angle

32

8

Capture status

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: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 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)

6

Description

Cam1 sensor capture and detection result

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

Cam1 centroid X

INT

Cam1 azimuth angle

16

Cam1 centroid Y

INT

Cam1 elevation angle

32

8

Capture status

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)

6

Description

Raw CSS measurements 1 to 6

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

8

CSS1

UINT

sampled A/D value - corresponds

to COS(sun_angle)

8

CSS2

UINT

sampled A/D value - corresponds

to COS(sun_angle)

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 109

16

8

CSS3

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)

6

Description

Raw CSS measurements 7 to 10

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

8

CSS7

UINT

sampled A/D value - corresponds

to COS(sun_angle)

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)

6

Description

Raw magnetometer measurements

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

MagX

INT

sampled A/D value

16

MagY

INT

sampled A/D value

32

16

MagZ

INT

sampled A/D value

Table 151: CubeSense Current Measurements Telemetry Format

ID

171

Frame Length (bytes)

6

Description

CubeSense current measurements

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 110

0

16

CubeSense 3V3

Current

UINT

CubeSense 3V3 Current.

Formatted value is obtained

using the formula: (formatted

value) [mA] = RAWVAL*0.1

16

CubeSense Cam2

SRAM Current

UINT

CubeSense Cam2 SRAM Current.

Formatted value is obtained

using the formula: (formatted

value) [mA] = RAWVAL*0.1

32

16

CubeSense Cam1

SRAM Current

UINT

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)

6

Description

CubeControl current measurements

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

CubeControl 3V3

Current

UINT

CubeControl 3V3 Current.

Formatted value is obtained

using the formula: (formatted

value) [mA] =

RAWVAL*0.48828125

16

CubeControl 5V

Current

UINT

CubeControl 5V Current.

Formatted value is obtained

using the formula: (formatted

value) [mA] =

RAWVAL*0.48828125

32

16

CubeControl Vbat

Current

UINT

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)

6

Description

XYZ Wheel current measurement

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

Wheel1Current

UINT

Wheel1 Current. Formatted value

is obtained using the formula:

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 111

(formatted value) [mA] =

RAWVAL*0.01

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)

6

Description

Magnetometer + MCU temperature measurements

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

MCU Temperature

INT

MCU Temperature. (Unit of

measure is [C])

16

Magnetometer

Temperature

INT

Magnetometer Temperature.

Formatted value is obtained

using the formula: (formatted

value) [C] = RAWVAL/10.0

32

16

Redundant

Magnetometer

Temperature

INT

Redundant Magnetometer

Temperature. Formatted value is

obtained using the formula:

(formatted value) [C] =

RAWVAL/10.0

Table 155: Rate sensor temperatures Telemetry Format

ID

175

Frame Length (bytes)

6

Description

Rate sensor temperatures

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

X-Rate Sensor

Temperature

INT

X-Rate sensor Temperature. (Unit

of measure is [C])

16

Y-Rate Sensor

Temperature

INT

Y-Rate sensor Temperature. (Unit

of measure is [C])

32

16

Z-Rate Sensor

Temperature

INT

Z-Rate sensor Temperature. (Unit

of measure is [C])

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 112

Table 156: Raw GPS Status Telemetry Format

ID

176

Frame Length (bytes)

6

Description

Raw GPS status

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

8

Gps Solution Status

ENUM

GPS Solution Status. Possible

values are in Table 157:

GpsSolutionStatus Enumeration

Values

8

Number of tracked

GPS satellites

UINT

Number of tracked GPS satellites

16

8

Number of GPS

satellites used in

solution

UINT

Number of GPS satellites used in

solution

24

8

Counter for XYZ Lof

from GPS

UINT

Counter for XYZ Lof from GPS

32

8

Counter for RANGE

log from GPS

UINT

Counter for RANGE log from GPS

40

8

Response Message

for GPS log setup

UINT

Response Message for GPS log

setup - p656 of OEMV615

reference manual

Table 157: GpsSolutionStatus Enumeration Values

Numeric Value

Name

Description

0

Solution computed

1

Insufficient observations

2

No convergence

3

Singularity at parameters matrix

4

Covariance trace exceeds maximum

5

Not yet converged from cold start

6

Height or velocity limits exceeded

7

Variance exceeds limits

8

Large residuals make position

unreliable

Large residuals make position unreliable

9

Calculating comparison to user

provided

Calculating comparison to user provided

10

The fixed position is invalid

11

Position type is unauthorized

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 113

Table 158: Raw GPS Time Telemetry Format

ID

177

Frame Length (bytes)

6

Description

Raw GPS time

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

GPS Reference

Week

UINT

GPS Reference Week

16

32

GPS Time

Milliseconds

UINT

GPS Time Milliseconds. (Unit of

measure is [ms])

Table 159: Raw GPS X Telemetry Format

ID

178

Frame Length (bytes)

6

Description

Raw GPS X position and velocity (ECI referenced)

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

32

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)

6

Description

Raw GPS Y position and velocity (ECI referenced)

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

32

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)

6

Description

Raw GPS Z position and velocity (ECI referenced)

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

32

ECEF Position Z

INT

ECEF Position Z. (Unit of measure

is [m])

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 114

32

16

ECEF Velocity Z

INT

ECEF Velocity Z. (Unit of measure

is [m/s])

Table 162: Star 1 Body Vector Telemetry Format

ID

181

Frame Length (bytes)

6

Description

Star 1 Body Vector

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

Star1BX

INT

Star1 body X-vector. Formatted

value is obtained using the

formula: (formatted value) =

RAWVAL/10000.0

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 using the

formula: (formatted value) =

RAWVAL/10000.0

Table 163: Star 2 Body Vector Telemetry Format

ID

182

Frame Length (bytes)

6

Description

Star 2 Body Vector

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

Star2BX

INT

Star2 body X-vector. Formatted

value is obtained using the

formula: (formatted value) =

RAWVAL/10000.0

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 using the

formula: (formatted value) =

RAWVAL/10000.0

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 115

Table 164: Star 3 Body Vector Telemetry Format

ID

183

Frame Length (bytes)

6

Description

Star 3 Body Vector

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

Star3BX

INT

Star3 body X-vector. Formatted

value is obtained using the

formula: (formatted value) =

RAWVAL/10000.0

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 using the

formula: (formatted value) =

RAWVAL/10000.0

Table 165: Star 1 Orbit Vector Telemetry Format

ID

184

Frame Length (bytes)

6

Description

Star 1 Orbit Vector

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

Star1OX

INT

Star1 orbit X-vector. Formatted

value is obtained using the

formula: (formatted value) =

RAWVAL/10000.0

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 using the

formula: (formatted value) =

RAWVAL/10000.0

Table 166: Star 2 Orbit Vector Telemetry Format

ID

185

Frame Length (bytes)

6

Description

Star 2 Orbit Vector

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 116

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

Star2OX

INT

Star2 orbit X-vector. Formatted

value is obtained using the

formula: (formatted value) =

RAWVAL/10000.0

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 using the

formula: (formatted value) =

RAWVAL/10000.0

Table 167: Star 3 Orbit Vector Telemetry Format

ID

186

Frame Length (bytes)

6

Description

Star 3 Orbit Vector

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

Star3OX

INT

Star3 orbit X-vector. Formatted

value is obtained using the

formula: (formatted value) =

RAWVAL/10000.0

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 using the

formula: (formatted value) =

RAWVAL/10000.0

Table 168: Star Magnitude Telemetry Format

ID

187

Frame Length (bytes)

6

Description

Instrument magnitude of identified stars

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

Magnitude Star 1

UINT

Instrument magnitude of star 1

16

Magnitude Star 2

UINT

Instrument magnitude of star 2

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 117

32

16

Magnitude Star 3

UINT

Instrument magnitude of star 3

Table 169: Star Performance Telemetry Format

ID

188

Frame Length (bytes)

6

Description

Performance parameters of star measurement

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

4

Number of Star

Detected

ENUM

Number of stars detected.

Possible values are in Table 170:

Stars Enumeration Values

4

Number of Stars

Identified

ENUM

Number of stars identified.

Possible values are in Table 170:

Stars Enumeration Values

8

Star Noise

UINT

Noise level of star image

16

1

Attitude Success

BOOL

Attitude Success

17

1

Image Capture

Success

BOOL

Image Capture Success

18

1

Detection Success

BOOL

Detection Success

19

1

Identification

Success

BOOL

Identification Success

20

1

Loop time Error

BOOL

Loop time Error

21

1

Max Stars Detected

BOOL

Max Stars Detected

22

1

Less than three

stars in FoV

BOOL

Less than three 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

1

One

2

Two

Table 171: Star Timing Telemetry Format

ID

189

Frame Length (bytes)

6

Description

Timing information of star measurement

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 118

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

Capture

UINT

Capture. (Unit of measure is [ms])

16

Detection

UINT

Detection. (Unit of measure is

[ms])

32

16

Identification

UINT

Identification. (Unit of measure is

[ms])

Table 172: ADCS State Telemetry Format

ID

190

Frame Length (bytes)

48

Description

Current ADCS state

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

4

Attitude Estimation

Mode

ENUM

Current attitude estimation

mode. Possible values are in

Table 27: EstimModeSelect

Enumeration Values

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

Enabled

BOOL

CubeControl Signal electronics

enabled status

11

1

CubeControl Motor

Enabled

BOOL

CubeControl Motor electronics

enabled status

12

1

CubeSense Enabled

BOOL

CubeSense enabled status

13

1

CubeWheel1

Enabled

BOOL

CubeWheel1 enabled status

14

1

CubeWheel2

Enabled

BOOL

CubeWheel2 enabled status

15

1

CubeWheel3

Enabled

BOOL

CubeWheel3 enabled status

16

1

CubeStar Enabled

BOOL

CubeStar enabled status

17

1

GPS Receiver

Enabled

BOOL

GPS Receiver enabled status

18

1

GPS LNA Power

Enabled

BOOL

GPS Antenna LNA enabled status

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 119

19

1

Motor Driver

Enabled

BOOL

Motor Driver Electronics enabled

status

20

1

Sun is Above Local

Horizon

BOOL

Sun is above the local horizon

(elevation > 0)

21

1

CubeSense

Communications

Error

BOOL

Communication error occurred

with the CubeSense

22

1

CubeControl Signal

Communications

Error

BOOL

Communication error occurred

with the CubeControl Signal

MCU

23

1

CubeControl Motor

Communications

Error

BOOL

Communication error occurred

with the CubeControl Motor

MCU

24

1

CubeWheel1

Communications

Error

BOOL

Communication error occurred

with the CubeWheel1

25

1

CubeWheel2

Communications

Error

BOOL

Communication error occurred

with the CubeWheel2

26

1

CubeWheel3

Communications

Error

BOOL

Communication error occurred

with the CubeWheel3

27

1

CubeStar

Communications

Error

BOOL

Communication error occurred

with the CubeStar

28

1

Magnetometer

Range Error

BOOL

Magnetometer measured

magnetic field with size < 100 nT

or >100,000nT

29

1

Cam1 Sensor

Overcurrent

Detected

BOOL

Cam1 sensor overcurrent

detected

30

1

Cam1 Sensor Busy

Error

BOOL

Cam1 sensor was not idle at the

start of ADCS loop

31

1

Cam1 Sensor

Detection Error

BOOL

Cam1 sensor was unable to

compute angles (could be not in

FOV)

32

1

Sun Sensor Range

Error

BOOL

Detected sun angles were

outside of +/- 90 deg

33

1

Cam2 Sensor

Overcurrent

Detected

BOOL

Cam2 sensor overcurrent

detected

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 120

34

1

Cam2 Sensor Busy

Error

BOOL

Cam2 sensor was not idle at the

start of ADCS loop

35

1

Cam2 Sensor

Detection Error

BOOL

Cam2 sensor was unable to

compute angles (could be not in

FOV)

36

1

Nadir Sensor Range

Error

BOOL

Detected nadir angles were

outside of +/- 60 deg

37

1

Rate Sensor Range

Error

BOOL

Measured XYZ-body rate is

outside of the range +/-20 deg/s

38

1

Wheel Speed

Range Error

BOOL

Wheel XYZ speed measurement

was outside the range +/-8500

rpm

39

1

Coarse Sun Sensor

Error

BOOL

Unable to compute Coarse Sun

vector (could be not in FOV)

40

1

StarTracker Match

Error

BOOL

Unable to obtain enough

matched stars

41

1

Star Tracker

Overcurrent

Detected

BOOL

Star tracker overcurrent detected

42

1

Orbit Parameters

are Invalid

BOOL

Orbit Parameters are not in

allowed bounds (angle

exceeding limits etc.). Failed to

initialize SGP4 propagator using

supplied parameters

43

1

Configuration is

Invalid

BOOL

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

Change is not

allowed

BOOL

Attempt was made to select

control mode without

appropriate estimator, or

command to set Y-momentum

mode while not in steady-state

Y-Thomson

45

1

Estimator Change is

not allowed

BOOL

Attempt was made to change to

an estimation mode that would

be inapropriate for the current

control mode

46

1

Modelled and

measured magnetic

field differs in size

BOOL

Modelled and measured

magnetic field differs in size by

more than 5000 nT

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 121

47

1

Node Recovery

Error

BOOL

Failed to Recover an ADCS Node

by successive resets

48

16

Estimated Roll

Angle

INT

Estimated roll angle. Formatted

value is obtained using the

formula: (formatted value) [deg]

= RAWVAL*0.01

64

16

Estimated Pitch

Angle

INT

Estimated pitch angle. Formatted

value is obtained using the

formula: (formatted value) [deg]

= RAWVAL*0.01

80

16

Estimated Yaw

Angle

INT

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

Angular Rate

INT

Estimated X angular rate.

Formatted value is obtained

using the formula: (formatted

value) [deg/s] = RAWVAL*0.01

160

16

Estimated Y

Angular Rate

INT

Estimated Y angular rate.

Formatted value is obtained

using the formula: (formatted

value) [deg/s] = RAWVAL*0.01

176

16

Estimated Z Angular

Rate

INT

Estimated Z angular rate.

Formatted value is 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: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 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 Z velocity .

Formatted value 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. Formatted

value is obtained 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

Partial Commands

Length

(bytes)

Bit

offset

Bit

length

Overlapping ADCS Configuration

Telecommand Parameters

145

Current ADCS State -

Table 123: Current

ADCS State Telemetry

Format

6

0

4

Attitude Estimation Mode

4

Control Mode

8

2

ADCS Run Mode

10

1

CubeControl Signal Enabled

11

1

CubeControl Motor Enabled

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 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: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 124

146

Estimated Attitude

Angles - Table 124:

Estimated Attitude

Angles Telemetry

Format

6

48

16

Estimated Roll Angle

64

16

Estimated Pitch Angle

80

16

Estimated Yaw Angle

218

Estimated Quaternion

- Table 199: Estimated

Quaternion Telemetry

Format

6

96

16

Estimated q1

112

16

Estimated q2

128

16

Estimated q3

147

Estimated Angular

Rates - Table 125:

Estimated Angular

Rates Telemetry

Format

6

144

16

Estimated X Angular Rate

160

16

Estimated Y Angular Rate

176

16

Estimated Z Angular Rate

148

Satellite Position (ECI)

- Table 126: Satellite

Position (ECI)

Telemetry Format

6

192

16

X position

208

16

Y position

224

16

Z position

149

Satellite Velocity (ECI)

- Table 127: Satellite

Velocity (ECI)

Telemetry Format

6

240

16

X Velocity

256

16

Y Velocity

272

16

Z Velocity

150

Satellite Position (LLH)

- Table 128: Satellite

Position (LLH)

Telemetry Format

6

288

16

Latitude

304

16

Longitude

320

16

Altitude

219

ECEF Position - Table

200: ECEF Position

Telemetry Format

6

336

16

ECEF Position X

352

16

ECEF Position Y

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 125

368

16

ECEF Position Z

Table 174: ADCS Measurements Telemetry Format

ID

191

Frame Length (bytes)

72

Description

Calibrated sensor measurements

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

Magnetic Field X

INT

Magnetic Field X. Formatted

value is obtained using the

formula: (formatted value) [uT] =

RAWVAL*0.01

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 the formula:

(formatted 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. Formatted value is

obtained using the formula:

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 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 the formula:

(formatted 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: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 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 using the

formula: (formatted 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 using the

formula: (formatted 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 using the

formula: (formatted 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: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 128

496

16

Star3BY

INT

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 using the

formula: (formatted 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 using the

formula: (formatted value) =

RAWVAL/10000.0

Table 175: Parts of ADCS Measurements telemetry frame (ID 191), requested using shorter

telemetry requests

ID

Partial Commands

Length

(bytes)

Bit

offset

Bit

length

Overlapping ADCS Configuration

Telecommand Parameters

151

Magnetic Field Vector

- Table 129: Magnetic

Field Vector Telemetry

Format

6

0

16

Magnetic Field X

16

Magnetic Field Y

32

16

Magnetic Field Z

152

Coarse Sun Vector -

Table 130: Coarse Sun

Vector Telemetry

Format

6

48

16

Coarse Sun X

64

16

Coarse Sun Y

80

16

Coarse Sun Z

153

Fine Sun Vector -

Table 131: Fine Sun

Vector Telemetry

Format

6

96

16

Sun X

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 129

112

16

Sun Y

128

16

Sun Z

154

Nadir Vector - Table

132: Nadir Vector

Telemetry Format

6

144

16

Nadir X

160

16

Nadir Y

176

16

Nadir Z

155

Rate Sensor Rates -

Table 133: Rate

Sensor Rates

Telemetry Format

6

192

16

X Angular Rate

208

16

Y Angular Rate

224

16

Z Angular Rate

156

Wheel Speed - Table

134: Wheel Speed

Telemetry Format

6

240

16

X Wheel Speed

256

16

Y Wheel Speed

272

16

Z Wheel Speed

181

Star 1 Body Vector -

Table 162: Star 1 Body

Vector Telemetry

Format

6

288

16

Star1BX

304

16

Star1BY

320

16

Star1BZ

184

Star 1 Orbit Vector -

Table 165: Star 1 Orbit

Vector Telemetry

Format

6

336

16

Star1OX

352

16

Star1OY

368

16

Star1OZ

182

Star 2 Body Vector -

Table 163: Star 2 Body

Vector Telemetry

Format

6

384

16

Star2BX

400

16

Star2BY

416

16

Star2BZ

185

Star 2 Orbit Vector -

Table 166: Star 2 Orbit

Vector Telemetry

Format

6

432

16

Star2OX

448

16

Star2OY

464

16

Star2OZ

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 130

183

Star 3 Body Vector -

Table 164: Star 3 Body

Vector Telemetry

Format

6

480

16

Star3BX

496

16

Star3BY

512

16

Star3BZ

186

Star 3 Orbit Vector -

Table 167: Star 3 Orbit

Vector Telemetry

Format

6

528

16

Star3OX

544

16

Star3OY

560

16

Star3OZ

Table 176: Actuator Commands Telemetry Format

ID

192

Frame Length (bytes)

12

Description

Actuator commands

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

X Magnetorquer

Command

INT

X Magnetorquer Commanded

on-time. (Unit of measure is

[10ms units])

16

Y Magnetorquer

Command

INT

Y Magnetorquer Commanded

on-time. (Unit of measure is

[10ms units])

32

16

Z Magnetorquer

Command

INT

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

Partial Commands

Length

(bytes)

Bit

offset

Bit

length

Overlapping ADCS Configuration

Telecommand Parameters

157

Magnetorquer

Command - Table

6

0

16

X Magnetorquer Command

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 131

135: Magnetorquer

Command Telemetry

Format

16

Y Magnetorquer Command

32

16

Z Magnetorquer Command

158

Wheel Speed

Commands - Table

136: Wheel Speed

Commands Telemetry

Format

6

48

16

X Wheel Speed

64

16

Y Wheel Speed

80

16

Z Wheel Speed

Table 178: Estimation Data Telemetry Format

ID

193

Frame Length (bytes)

42

Description

Estimation meta-data

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

IGRF Modelled

Magnetic Field X

INT

IGRF Modelled Magnetic Field X.

Formatted value is obtained

using the formula: (formatted

value) [uT] = RAWVAL*0.01

16

IGRF Modelled

Magnetic Field Y

INT

IGRF Modelled Magnetic Field Y.

Formatted value is obtained

using the formula: (formatted

value) [uT] = RAWVAL*0.01

32

16

IGRF Modelled

Magnetic Field Z

INT

IGRF Modelled Magnetic Field Z.

Formatted value is obtained using

the formula: (formatted value)

[uT] = RAWVAL*0.01

48

16

Modelled Sun

Vector X

INT

Modelled Sun Vector X.

Formatted value is obtained

using the formula: (formatted

value) = RAWVAL/10000.0

64

16

Modelled Sun

Vector Y

INT

Modelled Sun Vector Y.

Formatted value is obtained

using the formula: (formatted

value) = RAWVAL/10000.0

80

16

Modelled Sun

Vector Z

INT

Modelled Sun Vector Z.

Formatted value is obtained using

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 132

the formula: (formatted value) =

RAWVAL/10000.0

96

16

Estimated X-gyro

Bias

INT

Estimated X-gyro Bias. Formatted

value is obtained using the

formula: (formatted value)

[deg/s] = RAWVAL*0.001

112

16

Estimated Y-gyro

Bias

INT

Estimated Y-gyro Bias. Formatted

value is obtained using the

formula: (formatted value)

[deg/s] = RAWVAL*0.001

128

16

Estimated Z-gyro

Bias

INT

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 using the

formula: (formatted value) =

RAWVAL*0.0001

192

16

Quaternion Error -

Q1

INT

Quaternion Error - Q1. Formatted

value is obtained using the

formula: (formatted value) =

RAWVAL*0.0001

208

16

Quaternion Error -

Q2

INT

Quaternion Error - Q2. Formatted

value is obtained using the

formula: (formatted value) =

RAWVAL*0.0001

224

16

Quaternion Error -

Q3

INT

Quaternion Error - Q3. Formatted

value is obtained using the

formula: (formatted value) =

RAWVAL*0.0001

240

16

Quaternion

Covariance - Q1

RMS

INT

Quaternion Covariance - Q1

RMS. Formatted value is

obtained using the formula:

(formatted value) =

RAWVAL*0.001

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 133

256

16

Quaternion

Covariance - Q2

RMS

INT

Quaternion Covariance - Q2

RMS. Formatted value is

obtained using the formula:

(formatted value) =

RAWVAL*0.001

272

16

Quaternion

Covariance - Q3

RMS

INT

Quaternion Covariance - Q3 RMS.

Formatted value is obtained using

the formula: (formatted value) =

RAWVAL*0.001

288

16

X Angular Rate

Covariance

INT

X Angular Rate Covariance.

Formatted value is obtained

using the formula: (formatted

value) = RAWVAL*0.001

304

16

Y Angular Rate

Covariance

INT

Y Angular Rate Covariance.

Formatted value is obtained

using the formula: (formatted

value) = RAWVAL*0.001

320

16

Z Angular Rate

Covariance

INT

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

Partial Commands

Length

(bytes)

Bit

offset

Bit

length

Overlapping ADCS Configuration

Telecommand Parameters

159

IGRF Modelled

Magnetic Field Vector

- Table 137: IGRF

Modelled Magnetic

Field Vector Telemetry

Format

6

0

16

IGRF Modelled Magnetic Field X

16

IGRF Modelled Magnetic Field Y

32

16

IGRF Modelled Magnetic Field Z

160

Modelled Sun Vector

- Table 138: Modelled

Sun Vector Telemetry

Format

6

48

16

Modelled Sun Vector X

64

16

Modelled Sun Vector Y

80

16

Modelled Sun Vector Z

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 134

161

Estimated Gyro Bias -

Table 139: Estimated

Gyro Bias Telemetry

Format

6

96

16

Estimated X-gyro Bias

112

16

Estimated Y-gyro Bias

128

16

Estimated Z-gyro Bias

162

Estimation Innovation

Vector - Table 140:

Estimation Innovation

Vector Telemetry

Format

6

144

16

Innovation Vector X

160

16

Innovation Vector Y

176

16

Innovation Vector Z

163

Quaternion Error

Vector - Table 141:

Quaternion Error

Vector Telemetry

Format

6

192

16

Quaternion Error - Q1

208

16

Quaternion Error - Q2

224

16

Quaternion Error - Q3

164

Quaternion

Covariance - Table

142: Quaternion

Covariance Telemetry

Format

6

240

16

Quaternion Covariance - Q1 RMS

256

16

Quaternion Covariance - Q2 RMS

272

16

Quaternion Covariance - Q3 RMS

165

Angular Rate

Covariance - Table

143: Angular Rate

Covariance Telemetry

Format

6

288

16

X Angular Rate Covariance

304

16

Y Angular Rate Covariance

320

16

Z Angular Rate Covariance

Table 180: Raw Sensor Measurements Telemetry Format

ID

194

Frame Length (bytes)

28

Description

Raw sensor measurements

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

Cam2 centroid X

INT

Cam2 azimuth angle

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 135

16

Cam2 centroid Y

INT

Cam2 elevation angle

32

8

Capture status

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

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: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 136

Table 181: Parts of Raw Sensor Measurements telemetry frame (ID 194), requested using

shorter telemetry requests

ID

Partial Commands

Length

(bytes)

Bit

offset

Bit

length

Overlapping ADCS Configuration

Telecommand Parameters

166

Raw Cam2 Sensor -

Table 144: Raw Cam2

Sensor Telemetry

Format

6

0

16

Cam2 centroid X

16

Cam2 centroid Y

32

8

Capture status

40

8

Detection result

167

Raw Cam1 Sensor -

Table 147: Raw Cam1

Sensor Telemetry

Format

6

48

16

Cam1 centroid X

64

16

Cam1 centroid Y

80

8

Capture status

88

8

Detection result

168

Raw CSS 1 to 6 - Table

148: Raw CSS 1 to 6

Telemetry Format

6

96

8

CSS1

104

8

CSS2

112

8

CSS3

120

8

CSS4

128

8

CSS5

136

8

CSS6

169

Raw CSS 7 to 10 -

Table 149: Raw CSS 7

to 10 Telemetry

Format

6

144

8

CSS7

152

8

CSS8

160

8

CSS9

168

8

CSS10

170

Raw Magnetometer -

Table 150: Raw

Magnetometer

Telemetry Format

6

176

16

MagX

192

16

MagY

208

16

MagZ

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 137

Table 182: Power and Temperature Measurements Telemetry Format

ID

195

Frame Length (bytes)

34

Description

Power and temperature measurements

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

CubeSense 3V3

Current

UINT

CubeSense 3V3 Current.

Formatted value is obtained

using the formula: (formatted

value) [mA] = RAWVAL*0.1

16

CubeSense Cam2

SRAM Current

UINT

CubeSense Cam2 SRAM Current.

Formatted value is obtained

using the formula: (formatted

value) [mA] = RAWVAL*0.1

32

16

CubeSense Cam1

SRAM Current

UINT

CubeSense Cam1 SRAM Current.

Formatted value is obtained using

the formula: (formatted value)

[mA] = RAWVAL*0.1

48

16

CubeControl 3V3

Current

UINT

CubeControl 3V3 Current.

Formatted value is obtained

using the formula: (formatted

value) [mA] =

RAWVAL*0.48828125

64

16

CubeControl 5V

Current

UINT

CubeControl 5V Current.

Formatted value is obtained

using the formula: (formatted

value) [mA] =

RAWVAL*0.48828125

80

16

CubeControl Vbat

Current

UINT

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: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 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

Current

UINT

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

Temperature

INT

Magnetometer Temperature.

Formatted value is obtained

using the formula: (formatted

value) [C] = RAWVAL/10.0

208

16

Redundant

Magnetometer

Temperature

INT

Redundant Magnetometer

Temperature. Formatted value is

obtained using the formula:

(formatted value) [C] =

RAWVAL/10.0

224

16

X-Rate Sensor

Temperature

INT

X-Rate sensor Temperature. (Unit

of measure is [C])

240

16

Y-Rate Sensor

Temperature

INT

Y-Rate sensor Temperature. (Unit

of measure is [C])

256

16

Z-Rate Sensor

Temperature

INT

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

Partial Commands

Length

(bytes)

Bit

offset

Bit

length

Overlapping ADCS Configuration

Telecommand Parameters

171

CubeSense Current

Measurements - Table

151: CubeSense

Current

Measurements

Telemetry Format

6

0

16

CubeSense 3V3 Current

16

CubeSense Cam2 SRAM Current

32

16

CubeSense Cam1 SRAM Current

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 139

172

CubeControl Current

Measurements - Table

152: CubeControl

Current

Measurements

Telemetry Format

6

48

16

CubeControl 3V3 Current

64

16

CubeControl 5V Current

80

16

CubeControl Vbat Current

173

Wheel Currents -

Table 153: Wheel

Currents Telemetry

Format

6

96

16

Wheel1Current

112

16

Wheel2Current

128

16

Wheel3Current

198

ADCS Misc Current

Measurements - Table

186: ADCS Misc

Current

Measurements

Telemetry Format

6

144

16

CubeStarCurrent

160

16

Magnetorquer Current

174

ADCS Temperatures -

Table 154: ADCS

Temperatures

Telemetry Format

6

176

16

MCU Temperature

192

16

Magnetometer Temperature

208

16

Redundant Magnetometer

Temperature

175

Rate sensor

temperatures - Table

155: Rate sensor

temperatures

Telemetry Format

6

224

16

X-Rate Sensor Temperature

240

16

Y-Rate Sensor Temperature

256

16

Z-Rate Sensor Temperature

Table 184: Adcs Execution Times Telemetry Format

ID

196

Frame Length (bytes)

8

Description

Returns information about execution times of ACP functions

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 140

0

16

Time to Perform

ADCS Update

UINT

Time to perform complete ADCS

Update function. (Unit of

measure is [ms])

16

Time to Perform

Sensor/Actuator

Communications

UINT

Time to perform Sensor/actuator

communications. (Unit of

measure is [ms])

32

16

Time to Execute

SGP4 Propagator

UINT

Time to execute SGP4

propagator. (Unit of measure is

[ms])

48

16

Time to Execute

IGRF Model

UINT

Time to execute IGRF

computation. (Unit of measure is

[ms])

Table 185: ADCS Power Control Telemetry Format

ID

197

Frame Length (bytes)

3

Description

Control power to selected components

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

2

CubeControl Signal

Power Selection

ENUM

Control power to electronics of

CubeControl Signal PIC. Possible

values are in Table 22:

PowerSelect Enumeration Values

2

CubeControl Motor

Power Selection

ENUM

Control power to electronics of

CubeControl Motor PIC. Possible

values are in Table 22:

PowerSelect Enumeration Values

4

2

CubeSense Power

Selection

ENUM

Control power to the CubeSense.

Possible values are in Table 22:

PowerSelect Enumeration Values

6

2

CubeStarPower

Power Selection

ENUM

Control power to the CubeStar.

Possible values are in Table 22:

PowerSelect Enumeration Values

8

2

CubeWheel1Power

Power Selection

ENUM

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: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 141

12

2

CubeWheel3Power

Power Selection

ENUM

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)

6

Description

CubeStar and Torquer current measurements

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

CubeStarCurrent

UINT

CubeStar Current. Formatted

value is obtained using the

formula: (formatted value) [mA]

= RAWVAL*0.01

16

Magnetorquer

Current

UINT

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)

6

Description

Commanded attitude angles

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

Commanded Roll

Angle

INT

Commanded roll angle.

Formatted value is obtained

using the formula: (formatted

value) [deg] = RAWVAL*0.01

16

Commanded Pitch

Angle

INT

Commanded pitch angle.

Formatted value is obtained

using the formula: (formatted

value) [deg] = RAWVAL*0.01

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 142

32

16

Commanded Yaw

Angle

INT

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)

12

Description

Target reference for tracking control mode

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

32

Geocentric

longitude of target

FLOAT

Geocentric longitude of target.

(Unit of measure is [deg])

32

Geocentric latitude

of target

FLOAT

Geocentric latitude of target.

(Unit of measure is [deg])

64

32

Geocentric altitude

of target

FLOAT

Geocentric altitude of target.

(Unit of measure is [meter])

Table 189: ADCS Configuration Telemetry Format

ID

206

Frame Length (bytes)

272

Description

Current configuration

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

8

Magnetorquer 1

Configuration

ENUM

Magnetorquer 1 Configuration.

Possible values are in Table 34:

AxisSelect Enumeration Values

8

Magnetorquer 2

Configuration

ENUM

Magnetorquer 2 Configuration.

Possible values are in Table 34:

AxisSelect Enumeration Values

16

8

Magnetorquer 3

Configuration

ENUM

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: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 143

48

8

RW4 Configuration

ENUM

RW4 Configuration. Possible

values are in Table 34: AxisSelect

Enumeration Values

56

8

Gyro1

Configuration

ENUM

Gyro1 Configuration. Possible

values are in Table 34: AxisSelect

Enumeration Values

64

8

Gyro2

Configuration

ENUM

Gyro2 Configuration. Possible

values are in Table 34: AxisSelect

Enumeration Values

72

8

Gyro3

Configuration

ENUM

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: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 144

160

8

CSS1 Relative Scale

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

Scale

UINT

CSS10 Relative Scaling Factor.

Formatted value is obtained

using the formula: (formatted

value) = RAWVAL*0.01

240

8

CSS Threshold

UINT

CSS Threshold

248

16

Cam1 Sensor

Mounting

INT

Cam1 Sensor Mounting

Transform Alpha Angle.

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 145

Transform Alpha

Angle

Formatted value is obtained

using the formula: (formatted

value) [deg] = RAWVAL*0.01

264

16

Cam1 Sensor

Mounting

Transform Beta

Angle

INT

Cam1 Sensor Mounting

Transform Beta Angle. Formatted

value is obtained using the

formula: (formatted value) [deg]

= RAWVAL*0.01

280

16

Cam1 Sensor

Mounting

Transform Gamma

Angle

INT

Cam1 Sensor Mounting

Transform Gamma Angle.

Formatted value is obtained

using the formula: (formatted

value) [deg] = RAWVAL*0.01

296

8

Cam1 detection

threshold

UINT

304

1

Cam1 sensor auto

adjust mode

BOOL

0 = disabled and 1 = enabled

312

16

Cam1 sensor

exposure time

UINT

exposure time register value

328

16

Cam1 Boresight X

UINT

X Pixel location of Cam1

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

Mounting

Transform Alpha

Angle

INT

Cam2 Sensor Mounting

Transform Alpha Angle.

Formatted value is obtained

using the formula: (formatted

value) [deg] = RAWVAL*0.01

384

16

Cam2 Sensor

Mounting

Transform Beta

Angle

INT

Cam2 Sensor Mounting

Transform Beta Angle. Formatted

value is obtained using the

formula: (formatted value) [deg]

= RAWVAL*0.01

400

16

Cam2 Sensor

Mounting

INT

Cam2 Sensor Mounting

Transform Gamma Angle.

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 146

Transform Gamma

Angle

Formatted value is obtained

using the formula: (formatted

value) [deg] = RAWVAL*0.01

416

8

Cam2 detection

threshold

UINT

Cam2 detection threshold

424

1

Cam2 sensor auto

adjust mode

BOOL

0 = disabled and 1 = enabled

432

16

Cam2 sensor

exposure time

UINT

exposure time register value

448

16

Cam2 Boresight X

UINT

X Pixel location of Cam2

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

1

UINT

Minimum X of Area 1

504

16

Maximum X of area

1

UINT

Maximum X of Area 1

520

16

Minimum Y of area

1

UINT

Minimum Y of Area 1

536

16

Maximum Y of area

1

UINT

Maximum Y of Area 1

552

16

Minimum X of area

2

UINT

Minimum X of Area 2

568

16

Maximum X of area

2

UINT

Maximum X of Area 2

584

16

Minimum Y of area

2

UINT

Minimum Y of Area 2

600

16

Maximum Y of area

2

UINT

Maximum Y of Area 2

616

16

Minimum X of area

3

UINT

Minimum X of Area 3

632

16

Maximum X of area

3

UINT

Maximum X of Area 3

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 147

648

16

Minimum Y of area

3

UINT

Minimum Y of Area 3

664

16

Maximum Y of area

3

UINT

Maximum Y of Area 3

680

16

Minimum X of area

4

UINT

Minimum X of Area 4

696

16

Maximum X of area

4

UINT

Maximum X of Area 4

712

16

Minimum Y of area

4

UINT

Minimum Y of Area 4

728

16

Maximum Y of area

4

UINT

Maximum Y of Area 4

744

16

Minimum X of area

5

UINT

Minimum X of Area 5

760

16

Maximum X of area

5

UINT

Maximum X of Area 5

776

16

Minimum Y of area

5

UINT

Minimum Y of Area 5

792

16

Maximum Y of area

5

UINT

Maximum Y of Area 5

808

16

Magnetometer

Mounting

Transform Alpha

Angle

INT

Magnetometer Mounting

Transform Alpha Angle.

Formatted value is obtained

using the formula: (formatted

value) [deg] = RAWVAL*0.01

824

16

Magnetometer

Mounting

Transform Beta

Angle

INT

Magnetometer Mounting

Transform Beta Angle. Formatted

value is obtained using the

formula: (formatted value) [deg]

= RAWVAL*0.01

840

16

Magnetometer

Mounting

Transform Gamma

Angle

INT

Magnetometer Mounting

Transform Gamma Angle.

Formatted value is obtained

using the formula: (formatted

value) [deg] = RAWVAL*0.01

856

16

Magnetometer

Channel 1 Offset

INT

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: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 148

using the formula: (formatted

value) = RAWVAL*0.001

888

16

Magnetometer

Channel 3 Offset

INT

Magnetometer Channel 3 Offset.

Formatted value is obtained

using the formula: (formatted

value) = RAWVAL*0.001

904

16

Magnetometer

Sensitivity Matrix

S11

INT

Magnetometer Sensitivity Matrix

S11. Formatted value is obtained

using the formula: (formatted

value) = RAWVAL*0.001

920

16

Magnetometer

Sensitivity Matrix

S22

INT

Magnetometer Sensitivity Matrix

S22. Formatted value is obtained

using the formula: (formatted

value) = RAWVAL*0.001

936

16

Magnetometer

Sensitivity Matrix

S33

INT

Magnetometer Sensitivity Matrix

S33. Formatted value is obtained

using the formula: (formatted

value) = RAWVAL*0.001

952

16

Magnetometer

Sensitivity Matrix

S12

INT

Magnetometer Sensitivity Matrix

S12. Formatted value is obtained

using the formula: (formatted

value) = RAWVAL*0.001

968

16

Magnetometer

Sensitivity Matrix

S13

INT

Magnetometer Sensitivity Matrix

S13. Formatted value is obtained

using the formula: (formatted

value) = RAWVAL*0.001

984

16

Magnetometer

Sensitivity Matrix

S21

INT

Magnetometer Sensitivity Matrix

S21. Formatted value is obtained

using the formula: (formatted

value) = RAWVAL*0.001

1000

16

Magnetometer

Sensitivity Matrix

S23

INT

Magnetometer Sensitivity Matrix

S23. Formatted value is obtained

using the formula: (formatted

value) = RAWVAL*0.001

1016

16

Magnetometer

Sensitivity Matrix

S31

INT

Magnetometer Sensitivity Matrix

S31. Formatted value is obtained

using the formula: (formatted

value) = RAWVAL*0.001

1032

16

Magnetometer

Sensitivity Matrix

S32

INT

Magnetometer Sensitivity Matrix

S32. Formatted value is obtained

using the formula: (formatted

value) = RAWVAL*0.001

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 149

1048

16

X-Rate Sensor

Offset

INT

X-Rate Sensor Offset. Formatted

value is obtained using the

formula: (formatted value)

[deg/s] = RAWVAL*0.001

1064

16

Y-Rate Sensor

Offset

INT

Y-Rate Sensor Offset. Formatted

value is obtained using the

formula: (formatted value)

[deg/s] = RAWVAL*0.001

1080

16

Z-Rate Sensor

Offset

INT

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

Mounting

Transform Alpha

Angle

INT

StarTracker Mounting Transform

Alpha Angle. Formatted value is

obtained using the formula:

(formatted value) [deg] =

RAWVAL*0.01

1120

16

StarTracker

Mounting

Transform Beta

Angle

INT

StarTracker Mounting Transform

Beta Angle. Formatted value is

obtained using the formula:

(formatted value) [deg] =

RAWVAL*0.01

1136

16

StarTracker

Mounting

Transform Gamma

Angle

INT

StarTracker Mounting Transform

Gamma Angle. Formatted value

is obtained using the formula:

(formatted value) [deg] =

RAWVAL*0.01

1152

16

StarTracker

exposure time

UINT

exposure time register value

1168

8

StarTracker

detection threshold

UINT

StarTracker detection threshold

1176

8

StarTracker star

threshold

UINT

StarTracker star threshold

1184

8

Maximum Star

Matched

UINT

Maximum of stars that the star

tracker will match

1192

8

Maximum Star Pixel

UINT

Maximum pixels in a star

1200

8

Maximum Star

Noise

UINT

Maximum star pixel noise

1208

8

Minimum Star Pixel

UINT

Minimum pixels in a star

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 150

1216

8

Star Tracker Error

Margin

UINT

% Error margin of the star

identification. Formatted value is

obtained using the formula:

(formatted value) [%] =

RAWVAL*0.01

1224

32

Star Tracker

Centroid X

FLOAT

Pixel centroid X

1256

32

Star Tracker

Centroid Y

FLOAT

Pixel centroid Y

1288

16

Star Tracker Focal

Length

UINT

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

Gain

FLOAT

Detumbling Spin Gain (Ks)

1344

32

Detumbling

Damping Gain

FLOAT

Detumbling Damping Gain (Kd)

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

Detumbling Gain

FLOAT

Fast BDot Detumbling Gain (Kdf)

1424

32

Y-Momentum

Control Gain

FLOAT

Y-Momentum Control Gain (Kh)

1456

32

Y-momentum

Nutation Damping

Gain

FLOAT

Y-momentum Nutation Damping

Gain (Kn)

1488

32

Y-momentum

Proportional Gain

FLOAT

Y-momentum Proportional Gain

(Kp1)

1520

32

Y-momentum

Derivative Gain

FLOAT

Y-momentum Derivative Gain

(Kd1)

1552

32

Reference Wheel

Momentum

FLOAT

Reference Wheel Momentum (H-

ref). Must always be smaller than

0. (Unit of measure is [Nms])

1584

32

RWheel

Proportional Gain

FLOAT

RWheel Proportional Gain (Kp2)

1616

32

RWheel Derivative

Gain

FLOAT

RWheel Derivative Gain (Kd2)

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 151

1648

32

Tracking

Proportional Gain

FLOAT

Tracking Proportional Gain (Kp3)

1680

32

Tracking Derivative

Gain

FLOAT

Tracking Derivative Gain (Kd3)

1712

32

Tracking Integral

Gain

FLOAT

Tracking Integral Gain (Ki3)

1744

32

Moment Of Inertia

- Ixx

FLOAT

Moment Of Inertia - Ixx. (Unit of

measure is [kg.m^2])

1776

32

Moment Of Inertia

- Iyy

FLOAT

Moment Of Inertia - Iyy. (Unit of

measure is [kg.m^2])

1808

32

Moment Of Inertia

- Izz

FLOAT

Moment Of Inertia - Izz. (Unit of

measure is [kg.m^2])

1840

32

Moment Of Inertia

- Ixy

FLOAT

Moment Of Inertia - Ixy. (Unit of

measure is [kg.m^2])

1872

32

Moment Of Inertia

- Ixz

FLOAT

Moment Of Inertia - Ixz. (Unit of

measure is [kg.m^2])

1904

32

Moment Of Inertia

- Iyz

FLOAT

Moment Of Inertia - Iyz. (Unit of

measure is [kg.m^2])

1936

32

Magnetometer

Rate Filter System

Noise

FLOAT

Magnetometer Rate Filter

System Noise

1968

32

EKF System Noise

FLOAT

EKF System Noise

2000

32

CSS Measurement

Noise

FLOAT

CSS Measurement Noise

2032

32

Sun Sensor

Measurement

Noise

FLOAT

Sun Sensor Measurement Noise

2064

32

Nadir Sensor

Measurement

Noise

FLOAT

Nadir Sensor Measurement

Noise

2096

32

Magnetometer

Measurement

Noise

FLOAT

Magnetometer Measurement

Noise

2128

32

Star Tracker

Measurement

Noise

FLOAT

Star Tracker Measurement Noise

2160

1

Use Sun Sensor

BOOL

Use Sun Sensor measurement in

EKF

2161

1

Use Nadir Sensor

BOOL

Use Nadir Sensor measurement

in EKF

2162

1

Use CSS

BOOL

Use CSS measurement in EKF

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 152

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

2168

8

Cam1 and Cam2

Sampling Period

UINT

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)

64

Description

SGP4 Orbit Parameters

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

64

Inclination

DOUBLE

Inclination. (Unit of measure is

[deg])

64

Eccentricity

DOUBLE

Eccentricity

128

64

Right-ascension of

the Ascending

Node

DOUBLE

Right-ascension of the

Ascending Node. (Unit of

measure is [deg])

192

64

Argument of

Perigee

DOUBLE

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])

Table 191: Raw GPS Measurements Telemetry Format

ID

210

Frame Length (bytes)

36

Description

Raw GPS measurements

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 153

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

8

Gps Solution Status

ENUM

GPS Solution Status. Possible

values are in Table 157:

GpsSolutionStatus Enumeration

Values

8

Number of tracked

GPS satellites

UINT

Number of tracked GPS satellites

16

8

Number of GPS

satellites used in

solution

UINT

Number of GPS satellites used in

solution

24

8

Counter for XYZ Lof

from GPS

UINT

Counter for XYZ Lof from GPS

32

8

Counter for RANGE

log from GPS

UINT

Counter for RANGE log from GPS

40

8

Response Message

for GPS log setup

UINT

Response Message for GPS log

setup - p656 of OEMV615

reference manual

48

16

GPS Reference

Week

UINT

GPS Reference Week

64

32

GPS Time

Milliseconds

UINT

GPS Time Milliseconds. (Unit of

measure is [ms])

96

32

ECEF Position X

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

Deviation

UINT

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: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 154

256

8

Z-pos Standard

Deviation

UINT

Z-pos Standard Deviation.

Formatted value is obtained

using the formula: (formatted

value) [m] = RAWVAL*0.1

264

8

X-vel Standard

Deviation

UINT

X-vel Standard Deviation. (Unit

of measure is [m/s])

272

8

Y-vel Standard

Deviation

UINT

Y-vel Standard Deviation. (Unit of

measure is [m/s])

280

8

Z-vel Standard

Deviation

UINT

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

Partial Commands

Length

(bytes)

Bit

offset

Bit

length

Overlapping ADCS Configuration

Telecommand Parameters

176

Raw GPS Status -

Table 156: Raw GPS

Status Telemetry

Format

6

0

8

Gps Solution Status

8

Number of tracked GPS satellites

16

8

Number of GPS satellites used in

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

158: Raw GPS Time

Telemetry Format

6

48

16

GPS Reference Week

64

32

GPS Time Milliseconds

178

Raw GPS X - Table

159: Raw GPS X

Telemetry Format

6

96

32

ECEF Position X

128

16

ECEF Velocity X

179

Raw GPS Y - Table

160: Raw GPS Y

Telemetry Format

6

144

32

ECEF Position Y

176

16

ECEF Velocity Y

180

Raw GPS Z - Table

161: Raw GPS Z

Telemetry Format

6

192

32

ECEF Position Z

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 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)

36

Description

Raw Star Tracker Measurement

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

4

Number of Star

Detected

ENUM

Number of stars detected.

Possible values are in Table 170:

Stars Enumeration Values

4

Number of Stars

Identified

ENUM

Number of stars identified.

Possible values are in Table 170:

Stars Enumeration Values

8

Star Noise

UINT

Noise level of star image

16

1

Attitude Success

BOOL

Attitude Success

17

1

Image Capture

Success

BOOL

Image Capture Success

18

1

Detection Success

BOOL

Detection Success

19

1

Identification

Success

BOOL

Identification Success

20

1

Loop time Error

BOOL

Loop time Error

21

1

Max Stars Detected

BOOL

Max Stars Detected

22

1

Less than three

stars in FoV

BOOL

Less than three 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: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 156

144

16

Catalogue Star 2

UINT

Catalogue number of star 2

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

Catalogue number of star 3

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

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

Partial Commands

Length

(bytes)

Bit

offset

Bit

length

Overlapping ADCS Configuration

Telecommand Parameters

188

Star Performance -

Table 169: Star

Performance

Telemetry Format

6

0

4

Number of Star Detected

4

Number of Stars Identified

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

187

Star Magnitude -

Table 168: Star

Magnitude Telemetry

Format

6

48

16

Magnitude Star 1

64

16

Magnitude Star 2

80

16

Magnitude Star 3

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 157

212

Star 1 Raw Data -

Table 195: Star 1 Raw

Data Telemetry

Format

6

96

16

Catalogue Star 1

112

16

Centroid X Star 1

128

16

Centroid Y Star 1

213

Star 2 Raw Data -

Table 196: Star 2 Raw

Data Telemetry

Format

6

144

16

Catalogue Star 2

160

16

Centroid X Star 2

176

16

Centroid Y Star 2

214

Star 3 Raw Data -

Table 197: Star 3 Raw

Data Telemetry

Format

6

192

16

Catalogue Star 3

208

16

Centroid X Star 3

224

16

Centroid Y Star 3

189

Star Timing - Table

171: Star Timing

Telemetry Format

6

240

16

Capture

256

16

Detection

272

16

Identification

Table 195: Star 1 Raw Data Telemetry Format

ID

212

Frame Length (bytes)

6

Description

Catalogue index and detected coordinates for star 1

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

Catalogue Star 1

UINT

Catalogue number of star 1

16

Centroid X Star 1

INT

X centroid of star 1

32

16

Centroid Y Star 1

INT

Y centroid of star 1

Table 196: Star 2 Raw Data Telemetry Format

ID

213

Frame Length (bytes)

6

Description

Catalogue index and detected coordinates for star 2

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

Catalogue Star 2

UINT

Catalogue number of star 2

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 158

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)

6

Description

Catalogue index and detected coordinates for star 3

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

Catalogue Star 3

UINT

Catalogue number of star 3

16

Centroid X Star 3

INT

X centroid of star 3

32

16

Centroid Y Star 3

INT

Y centroid of star 3

Table 198: Redundant Magnetometer Raw Measurements Telemetry Format

ID

215

Frame Length (bytes)

6

Description

Redundant Magnetometer raw measurements

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

MagX

INT

sampled A/D value

16

MagY

INT

sampled A/D value

32

16

MagZ

INT

sampled A/D value

Table 199: Estimated Quaternion Telemetry Format

ID

218

Frame Length (bytes)

6

Description

Estimated quaternion set

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

Estimated q1

INT

Estimated q1

16

Estimated q2

INT

Estimated q2

32

16

Estimated q3

INT

Estimated q3

Table 200: ECEF Position Telemetry Format

ID

219

Frame Length (bytes)

6

Description

Satellite position in ECEF coordinates

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 159

0

16

ECEF Position X

INT

ECEF Position X. (Unit of measure

is [m])

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)

3

Description

Returns information about the ACP loop

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

Time Since Iteration

Start

UINT

Time since the start of the

current loop iteration. (Unit of

measure is [ms])

16

8

Current Execution

Point

ENUM

Indicates which part of the loop is

currently executing. Possible

values are in Table 202:

ExecutionWaypoints

Enumeration Values

Table 202: ExecutionWaypoints Enumeration Values

Numeric Value

Name

Description

0

Init

Busy with initialization

1

Idle

2

Sensor/Actuator Communications

3

ADCS Update

ADCS Estimation & Control Update

4

Perhipheral Power commands (over

I2C)

Perhipheral Power commands (over I2C)

5

CPU Temperature Sampling

6

Image Download

7

Image Compression

8

Saving Image to SD Card

9

Logging

10

Log File Compression

11

Saving Log to SD Card

12

Writing to flash

Writing to flash memory

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 160

Table 203: Status of Image Capture and Save Operation Telemetry Format

ID

233

Frame Length (bytes)

2

Description

Status of Image Capture and Save Operation

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

8

Percentage

Complete

UINT

Current progress of operation.

(Unit of measure is [%])

8

Status

ENUM

Current status of operation.

Possible values are in Table 204:

ImSaveStatus Enumeration

Values

Table 204: ImSaveStatus Enumeration Values

Numeric Value

Name

Description

0

No Error

1

Timeout waiting for sensor to

become available

Timeout waiting for sensor to become

available

2

Timeout waiting for next frame to

become ready

Timeout waiting for next frame to become

ready

3

Checksum mismatch between

donwloaded frame and unit frame

Checksum mismatch between donwloaded

frame and unit frame

4

Error writing to SD card

Table 205: SD Log1 Configuration Telemetry Format

ID

235

Frame Length (bytes)

13

Description

Log selection and period for LOG1

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

80

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

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 161

Table 206: SD Log2 Configuration Telemetry Format

ID

236

Frame Length (bytes)

13

Description

Log selection and period for LOG2

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

80

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

(bits)

Length

(bits)

Name

Data

Type

Description

0

80

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)

4

Description

Telemetry frame with acknowledge status of the previously sent command

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

8

Last TC ID

UINT

ID of last received TC

8

1

Processed flag

BOOL

Flag to indicate if the last TC has

been processed.

16

8

TC error status

ENUM

Status of last processed

telecommand. Possible values

are in Table 209: TcErrorReason

Enumeration Values

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 162

24

8

TC parameter error

index

UINT

Index of incorrect TC parameter

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)

22

Description

File Download buffer 20-byte packet

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

16

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)

5

Description

Status about download block preparation

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

1

Ready

BOOL

Ready

1

ParameterError

BOOL

The combination of message

length and hole map resulted in

invalid array lengths

8

16

Block CRC16

Checksum

UINT

Block CRC16 Checksum

24

16

Block Length

UINT

Block length

Table 212: File Information Telemetry Format

ID

243

Frame Length (bytes)

12

Description

File Information

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 163

0

4

File Type

ENUM

File Type. Possible values are in

Table 86: FileType Enumeration

Values

4

1

Busy Updating

BOOL

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

Checksum

UINT

File CRC16 Checksum

Table 213: Initialize Upload Complete Telemetry Format

ID

244

Frame Length

(bytes)

1

Description

Initialize Upload Complete

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

1

Busy

BOOL

Busy with file initialization (flash

erase, etc.)

Table 214: Upload Block Complete Telemetry Format

ID

245

Frame Length (bytes)

1

Description

Finalize Upload Block Complete

Channels

Offset

(bits)

Length

(bits)

Name

Data

Type

Description

0

1

Busy

BOOL

Busy with block finalization

1

Error

BOOL

Error in block finalization

Table 215: Block Checksum Telemetry Format

ID

246

Frame Length (bytes)

2

Description

File upload Block CRC16 Checksum

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

0

16

Checksum

UINT

Checksum

Table 216: Hole Map 1 Telemetry Format

ID

247

Frame Length (bytes)

16

Description

File Upload Hole Map 1

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 164

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

0

128

Hole Map

ARRAY

Hole Map

Table 217: Hole Map 2 Telemetry Format

ID

248

Frame Length (bytes)

16

Description

File Upload Hole Map 2

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

0

128

Hole Map

ARRAY

Hole Map

Table 218: Hole Map 3 Telemetry Format

ID

249

Frame Length (bytes)

16

Description

File Upload Hole Map 3

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

0

128

Hole Map

ARRAY

Hole Map

Table 219: Hole Map 4 Telemetry Format

ID

250

Frame Length (bytes)

16

Description

File Upload Hole Map 4

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

0

128

Hole Map

ARRAY

Hole Map

Table 220: Hole Map 5 Telemetry Format

ID

251

Frame Length (bytes)

16

Description

File Upload Hole Map 5

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

0

128

Hole Map

ARRAY

Hole Map

Table 221: Hole Map 6 Telemetry Format

ID

252

Frame Length (bytes)

16

Description

File Upload Hole Map 6

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

0

128

Hole Map

ARRAY

Hole Map

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 165

Table 222: Hole Map 7 Telemetry Format

ID

253

Frame Length (bytes)

16

Description

File Upload Hole Map 7

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

0

128

Hole Map

ARRAY

Hole Map

Table 223: Hole Map 8 Telemetry Format

ID

254

Frame Length (bytes)

16

Description

File Upload Hole Map 8

Channels

Offset (bits)

Length (bits)

Name

Data Type

Description

0

128

Hole Map

ARRAY

Hole Map

4.5.9 Logging

Table 224: Loggable Telemetry Frames

Mask

Telemetry

ID

Telemetry Frame

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

Part: CubeADCS

Doc: Reference Manual

Ver: 3.10

Page: 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

CubeADCS Cube ADCS Reference Manual [V3.10]

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