# Thruster Control Allocation --- ## About Me --- ## Biggest Lesson **Solving the interesting problem, not the actual problem** _Autonomous tractor safety system — Python GIL bottleneck_ | Built | Should Have Built | | -------------------------------- | ---------------------- | | Distributed architecture | Simple multiprocessing | | Rust processes + gRPC + protobuf | A few subprocesses | | "Cloud-native" on embedded | Boring and appropriate | **Worked on dev hardware. Collapsed on production ARM.** → _"What are the constraints here?"_ before _"What's the cleanest design?"_ --- ## Problem Statement **Thruster control algorithm which commands a set of 5 pulsed thrusters** | | | |---|---| | **Assumptions** | RW desat + maneuver pointing, *not* fine-pointing | | | Min on-time + 5s lockout; canted thrusters for roll | | **Inputs** | Body torque command, axial thrust command | | **Outputs** | Thruster on-times (5 values) | | **Parameters** | 5 × 10N thrusters at corners + center | --- ## Problem Statement (cont.) | | | |---|---| | **Performance Metrics** | Torque/force accuracy | | | Timing errors (dead-time) | | | Redundancy / fault tolerance | | **Parameter Tuning** | PID gains: linear analysis → sim tuning | | | Hardware specs from propulsion/thermal | --- ## Possible Algorithms for Thruster Allocation * <!-- .element: class="fragment fade-in" data-fragment-index="1"--> <strong>Pseudo-inverse</strong> + clipped output <!-- .element: class="fragment fade-in" data-fragment-index="1"--> - Simplest to implement * <!-- .element: class="fragment" data-fragment-index="2" --> <strong>Bounded least-squares</strong> (`scipy.optimize.lsq_linear`) <!-- .element: class="fragment fade-in" data-fragment-index="2"--> - Gives results that already bounded to constraints ($x_l \leq x \leq x_u$) - More complicated compared to pseudo-inverse * <!-- .element: class="fragment" data-fragment-index="3" --><strong>Simplex Optimizer</strong> (fuel-optimal allocation) - Needs initial guess - Allocation could fail - More computationally complex - <!-- .element: class="fragment" data-fragment-index="4" --> Likely overkill in this case --- ## Implementation The system is formulated as a linear allocation problem: $ \min\limits_{x(t)} ||A \cdot x - b ||_2$ - <!-- .element: class="fragment fade-in" data-fragment-index="1" --> $A \in \mathbb{R}^{4×5}$ : Control authority matrix (maps on-times to impulses) - Each column corresponds to one thruster - First three rows give the torque generated by the thruster - Last row is force generated by thruster in Z direction - <!-- .element: class="fragment fade-in" data-fragment-index="2" --> $b \in \mathbb{R}^4$ : Desired impulse. $\begin{bmatrix} M_x \Delta t & M_y \Delta t & M_z \Delta t & F_z \Delta t \end{bmatrix}$ - <!-- .element: class="fragment fade-in" data-fragment-index="3" --> $x \in \mathbb{R}^5$ : Thruster on-times [seconds] <mark class="fragment fade-in" data-fragment-index="4">$\leftarrow$ Solve for this</mark> - <!-- .element: class="fragment fade-in" data-fragment-index="5" --> Remove the last row when in torque-only mode --- ## Thruster Failure Analysis <style> .stacked-tables { font-size: 0.55em; } .stacked-tables table { margin: 0 auto 0.5em auto; width: auto; } .stacked-tables th, .stacked-tables td { padding: 0.2em 0.4em; } .stacked-tables h4 { margin: 0.5em 0 0.3em 0; font-size: 1.3em; text-align: center; } .slide-note { font-size: 0.6em; text-align: center; margin-top: 0.8em; font-style: italic; } </style> <div class="stacked-tables"> #### Single Thruster Failures | Config | Rank | σ | Effect | |--------|------|---|--------| | Nominal | 2/3 | 10, 10, 0 | No roll | | Corner | 2/3 | 10, 7, 0 | −30% | | Center | 2/3 | 10, 10, 0 | None | #### Two-Thruster Failures | Failed | Rank | Result | |--------|------|--------| | T1+T5 | 1/3 | 1-axis | | T2+T4 | 1/3 | 1-axis | | Other | 2/3 | OK | </div> <p class="slide-note">Diagonal pairs (T1+T5, T2+T4) are critical. Center thruster = zero torque at CoM.</p> --- ## Controllability Demo <style> main { max-width: none !important; } .container-container { height: calc(100vh - 120px); width: 100%; } </style> <embed class="container-container" type="text/html" src="./controllability-demo/index.html"> --- ## Live Demo <style> main { max-width: none !important; } .container-container { height: 100vh; width: 100%; } </style> <embed class="container-container" type="text/html" src="./allocator-live-demo/index.html"> --- ## Simulator architecture <figure> <?xml version="1.0" encoding="UTF-8" standalone="no"?> <!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN" "http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd"> <!-- Generated by graphviz version 14.0.5 (20251129.0259) --> <!-- Title: SimTiming Pages: 1 --> <svg width="507pt" height="95pt" viewBox="0.00 0.00 507.00 95.00" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="graph0" class="graph" transform="scale(1 1) rotate(0) translate(4 91)"> <title>SimTiming</title> <polygon fill="white" stroke="none" points="-4,4 -4,-91 503,-91 503,4 -4,4"/> <g id="clust1" class="cluster"> <title>cluster_ctrl</title> <polygon fill="none" stroke="#4a90d9" stroke-dasharray="5,2" points="8,-8 8,-79 254.75,-79 254.75,-8 8,-8"/> <text xml:space="preserve" text-anchor="middle" x="131.38" y="-15.2" font-family="Times,serif" font-size="14.00">25 Hz</text> </g> <g id="clust2" class="cluster"> <title>cluster_dyn</title> <polygon fill="none" stroke="#66bb6a" stroke-dasharray="5,2" points="262.75,-8 262.75,-79 491,-79 491,-8 262.75,-8"/> <text xml:space="preserve" text-anchor="middle" x="376.88" y="-15.2" font-family="Times,serif" font-size="14.00">100 Hz</text> </g> <!-- pid --> <g id="node1" class="node"> <title>pid</title> <polygon fill="none" stroke="black" points="94.25,-70.4 16,-70.4 16,-41.6 94.25,-41.6 94.25,-70.4"/> <text xml:space="preserve" text-anchor="middle" x="55.12" y="-52.12" font-family="Helvetica,sans-Serif" font-size="10.00">PID Controller</text> </g> <!-- alloc --> <g id="node2" class="node"> <title>alloc</title> <polygon fill="none" stroke="black" points="170.5,-70.4 116.25,-70.4 116.25,-41.6 170.5,-41.6 170.5,-70.4"/> <text xml:space="preserve" text-anchor="middle" x="143.38" y="-52.12" font-family="Helvetica,sans-Serif" font-size="10.00">Allocator</text> </g> <!-- pid->alloc --> <g id="edge1" class="edge"> <title>pid->alloc</title> <path fill="none" stroke="black" d="M94.71,-56C97.96,-56 101.25,-56 104.49,-56"/> <polygon fill="black" stroke="black" points="104.43,-59.5 114.43,-56 104.43,-52.5 104.43,-59.5"/> </g> <!-- tif --> <g id="node3" class="node"> <title>tif</title> <polygon fill="none" stroke="black" points="246.75,-71.25 192.5,-71.25 192.5,-40.75 246.75,-40.75 246.75,-71.25"/> <text xml:space="preserve" text-anchor="middle" x="219.62" y="-57.75" font-family="Helvetica,sans-Serif" font-size="10.00">Thruster</text> <text xml:space="preserve" text-anchor="middle" x="219.62" y="-46.5" font-family="Helvetica,sans-Serif" font-size="10.00">Interface</text> </g> <!-- alloc->tif --> <g id="edge2" class="edge"> <title>alloc->tif</title> <path fill="none" stroke="black" d="M170.76,-56C174.01,-56 177.37,-56 180.74,-56"/> <polygon fill="black" stroke="black" points="180.56,-59.5 190.56,-56 180.56,-52.5 180.56,-59.5"/> </g> <!-- tstate --> <g id="node4" class="node"> <title>tstate</title> <polygon fill="none" stroke="black" points="324.75,-71.25 270.75,-71.25 270.75,-40.75 324.75,-40.75 324.75,-71.25"/> <text xml:space="preserve" text-anchor="middle" x="297.75" y="-57.75" font-family="Helvetica,sans-Serif" font-size="10.00">Thruster</text> <text xml:space="preserve" text-anchor="middle" x="297.75" y="-46.5" font-family="Helvetica,sans-Serif" font-size="10.00">State</text> </g> <!-- tif->tstate --> <g id="edge5" class="edge"> <title>tif->tstate</title> <path fill="none" stroke="black" d="M247.25,-56C250.98,-56 254.87,-56 258.76,-56"/> <polygon fill="black" stroke="black" points="258.76,-59.5 268.76,-56 258.76,-52.5 258.76,-59.5"/> </g> <!-- ftau --> <g id="node5" class="node"> <title>ftau</title> <polygon fill="none" stroke="black" points="400.75,-71.25 346.75,-71.25 346.75,-40.75 400.75,-40.75 400.75,-71.25"/> <text xml:space="preserve" text-anchor="middle" x="373.75" y="-57.75" font-family="Helvetica,sans-Serif" font-size="10.00">Force</text> <text xml:space="preserve" text-anchor="middle" x="373.75" y="-46.5" font-family="Helvetica,sans-Serif" font-size="10.00">Torque</text> </g> <!-- tstate->ftau --> <g id="edge3" class="edge"> <title>tstate->ftau</title> <path fill="none" stroke="black" d="M325.05,-56C328.32,-56 331.71,-56 335.11,-56"/> <polygon fill="black" stroke="black" points="335.02,-59.5 345.02,-56 335.02,-52.5 335.02,-59.5"/> </g> <!-- integ --> <g id="node6" class="node"> <title>integ</title> <polygon fill="none" stroke="black" points="483,-71.25 422.75,-71.25 422.75,-40.75 483,-40.75 483,-71.25"/> <text xml:space="preserve" text-anchor="middle" x="452.88" y="-57.75" font-family="Helvetica,sans-Serif" font-size="10.00">6-DOF</text> <text xml:space="preserve" text-anchor="middle" x="452.88" y="-46.5" font-family="Helvetica,sans-Serif" font-size="10.00">Dynamics</text> </g> <!-- ftau->integ --> <g id="edge4" class="edge"> <title>ftau->integ</title> <path fill="none" stroke="black" d="M400.86,-56C404.1,-56 407.47,-56 410.86,-56"/> <polygon fill="black" stroke="black" points="410.83,-59.5 420.83,-56 410.83,-52.5 410.83,-59.5"/> </g> <!-- integ->pid --> <g id="edge6" class="edge"> <title>integ->pid</title> <path fill="none" stroke="black" stroke-dasharray="1,5" d="M422.26,-40.86C415.37,-38.02 407.94,-35.48 400.75,-34 318.02,-16.95 166.08,-26.21 116.25,-35 111.96,-35.76 107.57,-36.78 103.21,-37.96"/> <polygon fill="black" stroke="black" points="102.52,-34.51 93.96,-40.75 104.54,-41.22 102.52,-34.51"/> </g> </g> </svg> </figure> - <!-- .element: class="fragment" --> <strong>PID Controller</strong>: Quaternion error → body torque command - <!-- .element: class="fragment" --> <strong>Thruster Interface</strong>: Converts on-times to binary on/off states - <!-- .element: class="fragment" --> <strong>6-DOF Dynamics</strong>: Euler + quaternion kinematics integration --- ## Live Demo <style> main { /*Override the main CSS so that the Editors can be wide*/ max-width: none !important; } .container-container { height: 100vh; width: 100%; } </style> <embed class="container-container" type="text/html" src="./slew-sim-demo/index.html"> --- ## HITL/Sim testing? <style> .hitl-layout { display: grid; grid-template-columns: 0.6fr 1.4fr; gap: 0.5em; align-items: start; font-size: 0.55em; } .hitl-text { padding-left: 0; } .hitl-text p { margin: 0.4em 0 0.1em 0; font-weight: bold; } .hitl-text ul { margin: 0; padding-left: 1.2em; } .hitl-text li { margin: 0.1em 0; } .hitl-layout .diagram { text-align: center; } .hitl-layout .diagram svg { max-height: 70vh; width: 100%; } </style> <div class="hitl-layout"> <div class="hitl-text"> * Flight Computer - Runs actual flight software - GNC with PID controller + allocator - Valve drivers output GPIO signals * Simulation PC - High-fidelity dynamics + environment - Sensor models output raw serial data - I/O card decodes GPIO/serial signals * Harnessing - Flight harness connects both systems - Serial lines carry sensor data - GPIO lines carry thruster commands </div> <div class="diagram"> <figure> <?xml version="1.0" encoding="UTF-8" standalone="no"?> <!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN" "http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd"> <!-- Generated by graphviz version 14.0.5 (20251129.0259) --> <!-- Title: HITL Pages: 1 --> <svg width="592pt" height="483pt" viewBox="0.00 0.00 592.00 483.00" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"> <g id="graph0" class="graph" transform="scale(1 1) rotate(0) translate(4 479)"> <title>HITL</title> <polygon fill="white" stroke="none" points="-4,4 -4,-479 588,-479 588,4 -4,4"/> <g id="clust1" class="cluster"> <title>cluster_sim</title> <polygon fill="#f0f8ff" stroke="#4a90d9" stroke-dasharray="5,2" points="8,-178 8,-467 385.5,-467 385.5,-178 8,-178"/> <text xml:space="preserve" text-anchor="middle" x="196.75" y="-455.4" font-family="Helvetica,sans-Serif" font-size="8.00">Simulation PC</text> </g> <g id="clust2" class="cluster"> <title>cluster_models</title> <polygon fill="#f0f8ff" stroke="#666666" stroke-dasharray="1,5" points="96.25,-186 96.25,-365 285,-365 285,-186 96.25,-186"/> <text xml:space="preserve" text-anchor="middle" x="190.62" y="-353.4" font-family="Helvetica,sans-Serif" font-size="8.00">Models</text> </g> <g id="clust3" class="cluster"> <title>cluster_actuators</title> <polygon fill="#f0f8ff" stroke="#999999" points="107,-194 107,-263 277,-263 277,-194 107,-194"/> <text xml:space="preserve" text-anchor="middle" x="192" y="-251.4" font-family="Helvetica,sans-Serif" font-size="8.00">Actuators</text> </g> <g id="clust4" class="cluster"> <title>cluster_sensors</title> <polygon fill="#f0f8ff" stroke="#999999" points="104.25,-271 104.25,-340 277,-340 277,-271 104.25,-271"/> <text xml:space="preserve" text-anchor="middle" x="190.62" y="-328.4" font-family="Helvetica,sans-Serif" font-size="8.00">Sensors</text> </g> <g id="clust5" class="cluster"> <title>cluster_io</title> <polygon fill="#f0f8ff" stroke="#666666" stroke-dasharray="1,5" points="199.75,-373 199.75,-442 377.5,-442 377.5,-373 199.75,-373"/> <text xml:space="preserve" text-anchor="middle" x="288.62" y="-430.4" font-family="Helvetica,sans-Serif" font-size="8.00">I/O Card</text> </g> <g id="clust6" class="cluster"> <title>cluster_harness</title> <polygon fill="none" stroke="#996600" stroke-dasharray="1,5" points="304.62,-101 304.62,-170 479.75,-170 479.75,-101 304.62,-101"/> <text xml:space="preserve" text-anchor="middle" x="392.19" y="-158.4" font-family="Helvetica,sans-Serif" font-size="8.00" fill="#996600">Avionics / Harnessing</text> </g> <g id="clust7" class="cluster"> <title>cluster_fc</title> <polygon fill="#f0fff0" stroke="#66bb6a" stroke-dasharray="5,2" points="305.88,-8 305.88,-93 576,-93 576,-8 305.88,-8"/> <text xml:space="preserve" text-anchor="middle" x="440.94" y="-81.4" font-family="Helvetica,sans-Serif" font-size="8.00">Flight Computer</text> </g> <!-- sixdof --> <g id="node1" class="node"> <title>sixdof</title> <polygon fill="none" stroke="black" points="76.25,-276 16,-276 16,-240 76.25,-240 76.25,-276"/> <text xml:space="preserve" text-anchor="middle" x="46.12" y="-259.4" font-family="Helvetica,sans-Serif" font-size="8.00">High-Fidelity</text> <text xml:space="preserve" text-anchor="middle" x="46.12" y="-250.4" font-family="Helvetica,sans-Serif" font-size="8.00">Dynamics</text> </g> <!-- thruster --> <g id="node2" class="node"> <title>thruster</title> <polygon fill="none" stroke="black" points="169,-238 115,-238 115,-202 169,-202 169,-238"/> <text xml:space="preserve" text-anchor="middle" x="142" y="-216.9" font-family="Helvetica,sans-Serif" font-size="8.00">Thruster</text> </g> <!-- sixdof->thruster --> <g id="edge1" class="edge"> <title>sixdof->thruster</title> <path fill="none" stroke="black" d="M87.17,-241.79C92.8,-239.51 98.57,-237.17 104.14,-234.92"/> <polygon fill="black" stroke="black" points="85.93,-238.52 77.97,-245.51 88.56,-245 85.93,-238.52"/> <polygon fill="black" stroke="black" points="105.16,-238.28 113.12,-231.29 102.54,-231.79 105.16,-238.28"/> </g> <!-- star --> <g id="node5" class="node"> <title>star</title> <polygon fill="none" stroke="black" points="171.75,-315 112.25,-315 112.25,-279 171.75,-279 171.75,-315"/> <text xml:space="preserve" text-anchor="middle" x="142" y="-293.9" font-family="Helvetica,sans-Serif" font-size="8.00">Star Tracker</text> </g> <!-- sixdof->star --> <g id="edge2" class="edge"> <title>sixdof->star</title> <path fill="none" stroke="black" d="M86.96,-274.55C91.82,-276.57 96.78,-278.63 101.63,-280.64"/> <polygon fill="black" stroke="black" points="88.55,-271.42 77.97,-270.81 85.86,-277.88 88.55,-271.42"/> <polygon fill="black" stroke="black" points="100.01,-283.76 110.58,-284.36 102.69,-277.29 100.01,-283.76"/> </g> <!-- rw --> <g id="node3" class="node"> <title>rw</title> <polygon fill="none" stroke="black" points="269,-238 215,-238 215,-202 269,-202 269,-238"/> <text xml:space="preserve" text-anchor="middle" x="242" y="-221.4" font-family="Helvetica,sans-Serif" font-size="8.00">Reaction</text> <text xml:space="preserve" text-anchor="middle" x="242" y="-212.4" font-family="Helvetica,sans-Serif" font-size="8.00">Wheels</text> </g> <!-- thruster->rw --> <!-- gpio --> <g id="node7" class="node"> <title>gpio</title> <polygon fill="none" stroke="black" points="276.25,-417 207.75,-417 207.75,-381 276.25,-381 276.25,-417"/> <text xml:space="preserve" text-anchor="middle" x="242" y="-395.9" font-family="Helvetica,sans-Serif" font-size="8.00">GPIO Decoder</text> </g> <!-- thruster->gpio --> <g id="edge3" class="edge"> <title>thruster->gpio</title> <path fill="none" stroke="black" d="M160.89,-247.92C164.7,-254.39 168.54,-261.34 171.75,-268 187.18,-300.06 182.81,-311.71 199.75,-343 205.07,-352.83 211.93,-362.87 218.53,-371.68"/> <polygon fill="black" stroke="black" points="163.98,-246.27 155.79,-239.55 158,-249.91 163.98,-246.27"/> <polygon fill="black" stroke="black" points="215.68,-373.73 224.57,-379.5 221.22,-369.44 215.68,-373.73"/> </g> <!-- imu --> <g id="node4" class="node"> <title>imu</title> <polygon fill="none" stroke="black" points="269,-315 215,-315 215,-279 269,-279 269,-315"/> <text xml:space="preserve" text-anchor="middle" x="242" y="-293.9" font-family="Helvetica,sans-Serif" font-size="8.00">IMU</text> </g> <!-- star->imu --> <!-- serial --> <g id="node6" class="node"> <title>serial</title> <polygon fill="none" stroke="black" points="369.5,-417 312.25,-417 312.25,-381 369.5,-381 369.5,-417"/> <text xml:space="preserve" text-anchor="middle" x="340.88" y="-395.9" font-family="Helvetica,sans-Serif" font-size="8.00">Serial Ports</text> </g> <!-- star->serial --> <g id="edge4" class="edge"> <title>star->serial</title> <path fill="none" stroke="black" d="M146.92,-326.45C152.69,-356.77 166.66,-402.54 199.75,-424 230.17,-443.72 271.74,-432.63 301.69,-419.57"/> <polygon fill="black" stroke="black" points="150.4,-326.05 145.28,-316.77 143.5,-327.22 150.4,-326.05"/> <polygon fill="black" stroke="black" points="302.78,-422.92 310.39,-415.54 299.85,-416.56 302.78,-422.92"/> </g> <!-- serial_bus --> <g id="node9" class="node"> <title>serial_bus</title> <polygon fill="#cce5ff" stroke="#4a90d9" points="471.75,-145 405.5,-145 405.5,-109 471.75,-109 471.75,-145"/> <text xml:space="preserve" text-anchor="middle" x="438.62" y="-128.4" font-family="Helvetica,sans-Serif" font-size="8.00">Serial Comms</text> <text xml:space="preserve" text-anchor="middle" x="438.62" y="-119.4" font-family="Helvetica,sans-Serif" font-size="8.00">↔</text> </g> <!-- serial->serial_bus --> <!-- gpio->serial --> <!-- gpio_bus --> <g id="node8" class="node"> <title>gpio_bus</title> <polygon fill="#ffcccc" stroke="#d9534f" points="369.12,-145 312.62,-145 312.62,-109 369.12,-109 369.12,-145"/> <text xml:space="preserve" text-anchor="middle" x="340.88" y="-129.15" font-family="Helvetica,sans-Serif" font-size="8.00">GPIO Lines</text> <text xml:space="preserve" text-anchor="middle" x="340.88" y="-120.15" font-family="Helvetica,sans-Serif" font-size="8.00">←</text> </g> <!-- gpio->gpio_bus --> <!-- valve_drv --> <g id="node10" class="node"> <title>valve_drv</title> <polygon fill="none" stroke="black" points="470.25,-68 407,-68 407,-32 470.25,-32 470.25,-68"/> <text xml:space="preserve" text-anchor="middle" x="438.62" y="-46.9" font-family="Helvetica,sans-Serif" font-size="8.00">Valve Drivers</text> </g> <!-- gpio_bus->valve_drv --> <!-- serial_drv --> <g id="node12" class="node"> <title>serial_drv</title> <polygon fill="none" stroke="black" points="568,-68 507.75,-68 507.75,-32 568,-32 568,-68"/> <text xml:space="preserve" text-anchor="middle" x="537.88" y="-46.9" font-family="Helvetica,sans-Serif" font-size="8.00">Serial Driver</text> </g> <!-- serial_bus->serial_drv --> <!-- valve_drv->serial_drv --> <!-- gnc --> <g id="node11" class="node"> <title>gnc</title> <polygon fill="none" stroke="black" points="367.88,-60 313.88,-60 313.88,-24 367.88,-24 367.88,-60"/> <text xml:space="preserve" text-anchor="middle" x="340.88" y="-38.9" font-family="Helvetica,sans-Serif" font-size="8.00">GNC</text> </g> <!-- gnc->valve_drv --> <g id="edge8" class="edge"> <title>gnc->valve_drv</title> <path fill="none" stroke="black" d="M368.29,-44.21C376.62,-44.9 386.04,-45.69 395.2,-46.46"/> <polygon fill="black" stroke="black" points="394.78,-49.93 405.03,-47.28 395.36,-42.96 394.78,-49.93"/> </g> <!-- gnc->serial_drv --> <g id="edge9" class="edge"> <title>gnc->serial_drv</title> <path fill="none" stroke="black" stroke-dasharray="5,2" d="M368.19,-33.32C379.53,-30.01 393.03,-26.64 405.5,-25 438.22,-20.7 447.45,-18.24 479.75,-25 485.43,-26.19 491.24,-27.98 496.87,-30.06"/> <polygon fill="black" stroke="black" points="495.42,-33.25 506.01,-33.78 498.06,-26.77 495.42,-33.25"/> </g> </g> </svg> </figure> *HITL Simulation Architecture* </div> </div> --- ## Cross-Team Inputs <style> .cross-team-table { font-size: 0.7em; } .cross-team-table table { width: 100%; } .cross-team-table th, .cross-team-table td { padding: 0.3em 0.5em; } </style> <div class="cross-team-table"> | Team | Input Needed | Impact | |------|--------------|--------| | Propulsion | Thrust profiles, valve timing | Min pulse, lockout period | | Thermal | Thruster thermal limits | Duty cycle constraints | | Avionics | GPIO timing, voltage limits | Interface spec | | Structures/Mech | CoM location, inertia tensor | Control authority matrix | | Systems | Pointing/burn accuracy reqs | Controller gains, error budgets | </div> --- ## Conclusion