{"action":"created","comment":{"url":"https://api.github.com/repos/tpreynolds/uw_cubesat_adcs/pulls/comments/171738715","pull_request_review_id":100646453,"id":171738715,"diff_hunk":"@@ -0,0 +1,45 @@\n+function [ gps ] = init_gps_processing( fsw_params )\n+% ----------------------------------------------------------------------- %\n+% UW HuskySat-1, ADCS Team\n+%\n+% Initializes all parameters in the gps_processing library.\n+%\n+% T. Reynolds -- 2.28.18\n+% ----------------------------------------------------------------------- %\n+\n+% Pull constants\n+KM2M    = fsw_params.constants.convert.KM2M;\n+dut1    = fsw_params.constants.time.dut1;\n+\n+% Sensor sample time\n+gps.sample_time_s     = 1;\n+\n+% Initialize positions in TEME, ECI and ECEF frames\n+gps.ic.time = [fsw_params.environment.sgp4.gps_sec_init ...\n+                    fsw_params.environment.sgp4.gps_week_init]';\n+[gps.ic.pos_teme_km,gps.ic.vel_teme_kmps] = ...\n+                            TLE2ECI(fsw_params.environment.sgp4.orbit_tle);\n+                        \n+gps.ic.pos_teme_m   = KM2M*gps.ic.pos_teme_km;\n+gps.ic.vel_teme_mps = KM2M*gps.ic.vel_teme_kmps;\n+\n+% Get rotation matrices\n+[~,~,~,~,T_ut1_J2000,T_TT_J2000] = time_conversion(gps.ic.time,dut1);\n+[ecef_2_eci, ppef_2_veci, ~, teme_2_eci]  = ...\n+           coordinate_rotations(T_ut1_J2000, T_TT_J2000);\n+eci_2_ecef          = ecef_2_eci';  \n+\n+% Transform the TEME pos/vel\n+gps.ic.pos_eci_m    = teme_2_eci * gps.ic.pos_teme_m;\n+gps.ic.vel_eci_mps  = teme_2_eci * gps.ic.vel_teme_mps;\n+\n+gps.ic.pos_ecef_m   = eci_2_ecef * gps.ic.pos_eci_m;\n+gps.ic.vel_ecef_mps = eci_2_ecef * ( gps.ic.vel_eci_mps ...\n+                                       - ppef_2_veci * gps.ic.pos_ecef_m );","path":"adcs/sw/components/adcs_fsw/matlab/lib/local/sensor_processing/init_gps_processing.m","position":38,"original_position":38,"commit_id":"9f366b0655e6f97d410a05dc813527c7202b5c12","original_commit_id":"9f366b0655e6f97d410a05dc813527c7202b5c12","user":{"login":"uw-adcs-krish","id":29618763,"avatar_url":"https://avatars0.githubusercontent.com/u/29618763?v=4","gravatar_id":"","url":"https://api.github.com/users/uw-adcs-krish","html_url":"https://github.com/uw-adcs-krish","followers_url":"https://api.github.com/users/uw-adcs-krish/followers","following_url":"https://api.github.com/users/uw-adcs-krish/following{/other_user}","gists_url":"https://api.github.com/users/uw-adcs-krish/gists{/gist_id}","starred_url":"https://api.github.com/users/uw-adcs-krish/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/uw-adcs-krish/subscriptions","organizations_url":"https://api.github.com/users/uw-adcs-krish/orgs","repos_url":"https://api.github.com/users/uw-adcs-krish/repos","events_url":"https://api.github.com/users/uw-adcs-krish/events{/privacy}","received_events_url":"https://api.github.com/users/uw-adcs-krish/received_events","type":"User","site_admin":false},"body":"ppef_2_veci includes the eci_2_ecef rotation already, I think\r\n[ ] Check this","created_at":"2018-03-02T00:44:30Z","updated_at":"2018-03-02T00:44:30Z","html_url":"https://github.com/tpreynolds/uw_cubesat_adcs/pull/36#discussion_r171738715","pull_request_url":"https://api.github.com/repos/tpreynolds/uw_cubesat_adcs/pulls/36","author_association":"COLLABORATOR","_links":{"self":{"href":"https://api.github.com/repos/tpreynolds/uw_cubesat_adcs/pulls/comments/171738715"},"html":{"href":"https://github.com/tpreynolds/uw_cubesat_adcs/pull/36#discussion_r171738715"},"pull_request":{"href":"https://api.github.com/repos/tpreynolds/uw_cubesat_adcs/pulls/36"}}},"pull_request":{"url":"https://api.github.com/repos/tpreynolds/uw_cubesat_adcs/pulls/36","id":172132310,"html_url":"https://github.com/tpreynolds/uw_cubesat_adcs/pull/36","diff_url":"https://github.com/tpreynolds/uw_cubesat_adcs/pull/36.diff","patch_url":"https://github.com/tpreynolds/uw_cubesat_adcs/pull/36.patch","issue_url":"https://api.github.com/repos/tpreynolds/uw_cubesat_adcs/issues/36","number":36,"state":"open","locked":false,"title":"Taylor sprint17","user":{"login":"tpreynolds","id":29679775,"avatar_url":"https://avatars1.githubusercontent.com/u/29679775?v=4","gravatar_id":"","url":"https://api.github.com/users/tpreynolds","html_url":"https://github.com/tpreynolds","followers_url":"https://api.github.com/users/tpreynolds/followers","following_url":"https://api.github.com/users/tpreynolds/following{/other_user}","gists_url":"https://api.github.com/users/tpreynolds/gists{/gist_id}","starred_url":"https://api.github.com/users/tpreynolds/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/tpreynolds/subscriptions","organizations_url":"https://api.github.com/users/tpreynolds/orgs","repos_url":"https://api.github.com/users/tpreynolds/repos","events_url":"https://api.github.com/users/tpreynolds/events{/privacy}","received_events_url":"https://api.github.com/users/tpreynolds/received_events","type":"User","site_admin":false},"body":"Made changes based on comments in issue #24:\r\n\r\n- Updated the init file for gps_processing to include coordinate rotations. All RTs were getting initialized with TEME (some needed to be ECEF/ECI), and I think this was causing some of the errors in FSWs position state. \r\n- Added JD_utc as an output from the time library and fed that in to SGP4.\r\n- Added a struct for all constants to fsw_params. \r\n- Updated GPS sensor library as needed. 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