FRSCGen:

Path: Missions/FastReorientation

% Executes the fast reorientation system slew maneuver.
   This is a combination of both the FRSProp and FRSTorque functions.
   i.e. It computes the maneuver torque and updates the model at the 
        same rate.

   Since version 2.
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   Form:
   [qrefto0, modelrate, tfrs, xmodel, umnvrf, umnvr, xf]
   = FRSCGen( axis0, af, bf, cf, df, xmodel, tbbscale, qrefto0i,
    umnvr, xf, dt, nhalf, rate, iner, maxaccel, i )
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   ------
   Inputs
   ------
   axis0         (3,1)   The maneuver axis unit vector
   af            (n,n)   The shaping filter plant matrix
   bf            (n,1)   The shaping filter input matrix
   cf            (1,n)   The shaping filter measurement matrix
   df            (1,1)   The shaping filter feedthrough matrix
   xmodel        (2,1)   Initial model angle and rate (0,0)
   tbbscale      (1,1)   Converts acceleration to torque
   qrefto0i      (4,1)   Quaternion from sensor/axis to s/c at start 
   umnvr         (1,1)   Sign of the maneuver
   xf            (n,1)   The shaping filter state
   dt            (1,1)   The control time period
   nhalf         (1,1)   Half the number of control periods in the maneuver 
   rate          (3,1)   The body rate
   iner          (3,3)   The inertia matrix
   maxaccel      (1,1)   The maximum acceleration
   i             (1,1)   The maneuver step

   -------
   Outputs
   -------
   qrefto0       (4,1)   Quaternion from reference to spacecraft axes 
   modelrate     (3,1)   The model body rate
   tfrs          (3,1)   FRS torque
   xmodel        (2,1)   Model angle and rate (0,0)
   umnvrf        (1,1)   Maneuver acceleration command output of filter
   umnvr         (1,1)   Sign of the maneuver
   xf            (n,1)   The shaping filter state

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Children:

Common: Quaternion/AU2Q
Common: Quaternion/QMult
Math: Linear/Cross

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