scenaio_FeedbackRW not converging in inertial3D mode

[alex-nelson-rsa]

I am working with the scenario_FeedbackRW script located in examples/BskSim/scenarios. I noticed that if the simulation is run only in inertial3D mode (rather than switching to directInertial3D) the attitude does not seem to converge. I worked with adjusting the gains, but didn't have significant luck driving the attitude error to 0. Is this a known issue? Is there an issue to begin with or is it simply a matter of better gain tuning?

[schaubh]

Howdy Alex, this is not expected behavior. If you switch modes, make sure the mode is available again. Mode switching in BskSim has some subtle things to consider. My guess is this mode is not actually running.

[alex-nelson-rsa]

After some digging, it looks like the issue is the reaction wheels in the simulation are too small for the spacecraft inertia and repeatedly saturate. An easy fix after all! It might be worth updating the scenario_FeedbackRW example so that the spacecraft's mass properties are a bit more controllable with the given reaction wheels and future users aren't confused by the results.