Implemented the QA suggestions

Author: rsriya

constants_1U.py

@@ -96,27 +96,37 @@
 v_S5 = np.array([0,0,1])
 v_S6 = np.array([0,0,-1])
 
+m_normalVectors = np.zeros([6,3]) #matrix of normal vectors of sensors
+#S1 and S2 are opposite, S3 and S4 are opposite, S5 and S6 are opposite
+m_normalVectors[0,:] = v_S1
+m_normalVectors[1,:] = v_S2
+m_normalVectors[2,:] = v_S3
+m_normalVectors[3,:] = v_S4
+m_normalVectors[4,:] = v_S5
+m_normalVectors[5,:] = v_S6
+
 SS_GAIN = 1
 SS_QUANTIZER = 3
 SS_THRESHOLD = 0.5
+u=1/(SS_QUANTIZER-1)   #quantizier means no. of discrete values between 0 and 1 and u represents the resolution of ADC
 
 ADC_BIAS = np.array([0,0,0,0,0,0])
-ADC_COV = 0.01*np.identity(6)
+ADC_COV = 0.01*np.identity(6) 
 
 #GPS (random values)
 GPS_POS_BIAS = np.array([0,0,0])
 GPS_VEL_BIAS = np.array([0,0,0])
 GPS_TIME_BIAS = np.array([0])
-GPS_POS_COV = np.identity(3)
-GPS_VEL_COV = np.identity(3)
+GPS_POS_COV = np.identity(3) 
+GPS_VEL_COV = np.identity(3) 
 GPS_TIME_COV = np.array([[0]])
 
 #Magnetometer (random values)
 MAG_BIAS = np.array([0,0,0])
-MAG_COV = 1e-9*np.identity(3)
+MAG_COV = 1e-9*np.identity(3) 
 
 #Gyroscope (random values)
 GYRO_F_BIAS = np.array([0,0,0])
-GYRO_F_COV = 1e-9*np.identity(3)
+GYRO_F_COV = 1e-9*np.identity(3) 
 
 k_detumbling = 4*np.pi*(1+sin(radians(Inclination-11)))*Jmin/TimePeriod    #gain constant in B_dot controller (from book by F. Landis Markley)

qnv.py

@@ -36,8 +36,8 @@ def quatMultiplyUnnorm(v_q1,v_q2): #returns quaternion product (product is not a
 	v_q = np.hstack((v_b,a))
 	return v_q
 
-def quatRotate(v_q,v_x): #rotates vector x by quaternion q
-	
+def quatRotate(v_q,v_x): 
+	#Transforms components of vector x in frame A to components in frame B if the input quaternion is q_BA	
 	if np.count_nonzero(v_x) == 0:
 		return v_x
 	v_qi = quatInv(v_q)

sensor.py

@@ -9,17 +9,6 @@ def ADC(sun_vector):
     #input: sun vector in body frame, normal vectors of each sunsensor, sunsensor gain, quantizer
     #sunsensor gain : multiplying factor that converts dot product of sunvector with normal to voltage
     #output : 6 voltages, 1 per sunsensor
-    
-    u=1/(SS_QUANTIZER-1)   #quantizier means no. of discrete values between 0 and 1 and u represents the resolution of ADC
-
-    m_normalVectors = np.zeros([6,3]) #matrix of normal vectors of sensors
-    #S1 and S2 are opposite, S3 and S4 are opposite, S5 and S6 are opposite
-    m_normalVectors[0,:] = v_S1
-    m_normalVectors[1,:] = v_S2
-    m_normalVectors[2,:] = v_S3
-    m_normalVectors[3,:] = v_S4
-    m_normalVectors[4,:] = v_S5
-    m_normalVectors[5,:] = v_S6
 
     v_output = np.zeros([6]) #vector of output of each sensor
 
@@ -73,8 +62,7 @@ def calc_SV(ss):
               if ss[m]>=ss[m+1]:
                     v_sun_m[n]=1.0*ss[m] 
               else:
-                 v_sun_m[n]=-1.0*ss[m+1]
-       
+                v_sun_m[n]=-1.0*ss[m+1]
     return v_sun_m/np.linalg.norm(v_sun_m)       #gives the unit sun vector to be used in quest.    
 
 
@@ -103,7 +91,7 @@ def GPS(sat):
     v_pos_m = v_pos + np.random.multivariate_normal(GPS_POS_BIAS,GPS_POS_COV)
     v_vel_m = v_vel + np.random.multivariate_normal(GPS_VEL_BIAS,GPS_VEL_COV)
     time_m = time + np.random.multivariate_normal(GPS_TIME_BIAS,GPS_TIME_COV)
-
+    
     return np.hstack([v_pos_m,v_vel_m,time_m])
 
 def magnetometer(sat):

test_sensor.py

@@ -9,7 +9,12 @@
 import sensor
 import frames as fs
 
+
+
 #Before running these test cases multiply covariance with 0 in constants_1U.py
+
+
+
 @ddt
 class TestSensor(unittest.TestCase):