Class in Zendir.Classes | Inherits from Message
Declaration
class FormationFlyingMessage;Description
Message containing the current state and status of the ROE formation flying controller. This message provides telemetry about the relative motion, reference trajectory, errors, and commanded accelerations.
Properties
| Declared | Description |
|---|---|
| AccelerationCommand_LVLH | Commanded acceleration in the LVLH frame as computed by thePD controller. This is the output that will be transformed toinertial frame and sent to the actuator module. |
| AlignmentGateHeld | True when port-relative closure is holding because alignment or corridorconstraints are not yet satisfied. |
| ApproachSegmentStartTime | Simulation time [s] when the R-bar or V-bar approach segment started, or -1 if not yet started. |
| BarApproachDuration | Bar maneuver approach duration [s] from segment start to final hold distance. |
| CommandedClosureSpeed | Current braking-limited axial closure command [m/s]. |
| HoldReason | Human-readable reason terminal closure is holding. |
| Mode | Current formation flying operating mode. |
| PortAxialRange | Signed own-port range along the target docking axis [m]. |
| PortAxialRate | Own-port rate along the target docking axis [m/s]. |
| PortLateralError | Distance of the own port from the target docking axis [m]. |
| PortLateralRate | Magnitude of own-port velocity normal to the target docking axis [m/s]. |
| PortStateAge | Age of the target docking-port state used by guidance [s]. |
| PositionError_LVLH | Position error (reference - current) in the LVLH frame. |
| ReferencePosition_LVLH | Desired reference position in the LVLH frame at the current time. |
| ReferenceVelocity_LVLH | Desired reference velocity in the LVLH frame at the current time. |
| RelativePosition_LVLH | Current relative position of the chaser with respect to the targetin the LVLH (Local-Vertical/Local-Horizontal) frame. |
| RelativeVelocity_LVLH | Current relative velocity of the chaser with respect to the targetin the LVLH frame. |
| VelocityError_LVLH | Velocity error (reference - current) in the LVLH frame. |