InertialUKF usage for Navigation Issues

[luca1396]

Hello everyone,
I am trying to implement the “inertialUKF” module to estimate the Attitude of the satellite without using the standard simpleNav module. However I’m finding the following issues/doubts:

• As an input, it is requested the “gyrBuffInMsg” of type “AccDataMsgPayload”. However, I cannot find any module providing an output message of the following type. I was expecting to find this kind of Msg output from the modules implementing the IMU, but it doesn’t seem to be the case. What happens if I connect an empty message as also done in the Unit Test?
• It is needed a “STAttMsgPayload” as input, that comes as an output from the “stComm” module. Is the “dcm_BP” parameter of this module the matrix to go from the sensor reference frame to the body frame? Is it the only parameter to be defined for this module? If this is the case, then the noises of the “PMatrix” parameter expressed within the “starTracker” module are to be considered as expressed with respect to the sensor reference frame?
• Concerning the inertialUKF module, what are the parameters that must be defined (filter parameters like alpha, beta, kappa, numST, …)? Are there some default values considered for them if not defined?

Can anyone who has already tried and implemented these modules help me?
Thanks a lot!
Luca

[luca1396]

I have also tried to implement it leaving an empty gyro message and connecting the UKF output message "NavStateOutMsg" as input to the "AttNavInMsg" of the attTrackingError Module. However it doesn't seem to be working and I get the following error messages:
[FILE : /home/dev/Documents/basilisk/basilisk/dist3/autoSource/cMsgCInterface/NavAttMsg_C.cpp, FUNC : NavAttMsg_C_read, LINE : 80]:
MSG_ERROR: In C input msg, you are trying to read an un-written message of type NavAttMsg.
[FILE : /home/dev/Documents/basilisk/basilisk/dist3/autoSource/cMsgCInterface/AccDataMsg_C.cpp, FUNC : AccDataMsg_C_read, LINE : 80]:
MSG_ERROR: In C input msg, you are trying to read an un-written message of type AccDataMsg.