Responsible	Samuel Schoenenberger
Last Updated	10/12/2025, 12:48:54 PM
Last Author	Kai Berszin

ADCS Hardware

Scope

The purpose of this documentation is to describe the attitude determination and control system of the SAGE satellite. We have decided to use the all-in-one ADCS solution from the company CubeSpace, which provides us with all the necessary hardware and software, including an MCU to run the software on. The company is able to customize their solution for the individual needs of each client and our needs are currently being negotiated with their specialists.

Hardware Overview

Hardware Name	COTS product name	Quantity
ADCS Computer	CubeComputer (DM)	1
ADCS Computer	CubeComputer	1
Reaction Wheel	CubeWheel CW0017	3
Magnetorquer	CubeTorquer CR0003	3
Fine Sun Sensor	CubeSense Sun	1
Coarse Sun Sensor	CSS	(3)
Earth Sensor	CubeSense Earth	1
Magnetometer	CubeMag Deployable	1
GNSS Antenna	? (Not Cubespace)	2

CubeSpace Hardware Documentation

Product Description

(CS-DEV.PD.CA-01) This document gives a high level overview of the CubeSpace ADCS solution.

Interface Control Document

(CS-DEV.ICD.CA-01) Included in the CubeADCS Gen2 Interface Control Document are the following:

1. The electrical interfaces for the various components of the ADCS CubeSpace system are documented from page 14 to 30. This includes communication and power interfaces of all components.
2. The mechanical interface, including the outer dimensions, the connector positions, mounting definition, Mass, COM and Intertia and a coordinate system definition, for each component can be found on page 31 to 76 of the same document.
3. Communication protocol characteristics are described on page 78 and 79.
4. The GPS Interface is described on page 80.
5. Instuctions on EMI/EMC are given on page 81 to 84.
6. Information on Testing can be found on 85 and following. More on this can also found on this page in the testing section.

User Manual

(CS-DEV.UM.CA-01) The User Manual includes the following content:

1. A Guide to starting up the CubeADCS CubeComputer, connecting sensors and actuators and connecting communication with the ADCS module with CAN, UART, I2C, RS422/RS485
2. Fuctions like how to update and configuration or the bootloader
3. Small overview over control and estimation modes
4. Health Checks/Acceptance Tests
5. Upgrade of CubeProducs via CubeSupport

Commisioning and Operations Manual

(CS-DEV.CMNL.CA-01) The following is included in this document

1. The ADCS mode reference: Description of Estimation and Control Modes of CubeSpace.
2. ADCS Operational Requirements and Considerations: information about Commands, Telemetry, logging, time synchronization etc.
3. Describes Commisionning and Operations of all different Control Modes and Hardware Components.

EOS User Manual

(EOS-UM-1.13) This document is a User Manual for the EOS simulator. It includes:

1. An installation guide for EOS.
2. An overview of the User Interface of EOS.
3. A description of the reference coordinate system and camera settings
4. A description of how to set the satellite model.
5. A brief description of the power budget script and the scheduler script.
6. A description of how to structure the scenario files.
7. More model information in the appendix.

CubeSpace EOS Plugin User Manual

(CS-DEV.AMNL.EOS-01) The following document is a description of the EOS Plugin from CubeSpace. Included here are:

1. A description of the simulation model.
2. A description of the simulation settings.
3. A guide for Hardware in the Loop (HIL) simulations
4. Examples for EOS scripts. There is also a slide deck about the CubeSpace EOS plugin here.

Bootloader Application Manual

(CS-DEV.AMNL.BL-01) The Bootloader Application Manual describes all aspects of interfacing with the CubeSpace Bootloader. This includes on the ground and in orbit. It includes:

1. A list of upgrade scenarios
2. Functions and Features for Interfacing
3. Integration Testing

CubeProduct Gen 2 Generic Environmental Test Plan

(CS-DEV.ETP.CA-01) The Generic Environmental Test Plan describes the environmental testing done by CubeSpace. This includes:

1. Thermal Vaccuum Tests
2. Radiation Tests
3. Vibration Tests
4. Shock Tests
5. Thermal Tests

CubeProduct Firmware Reference Manual

(CS-DEV.FRM.CA-01) This document is a low level firmware reference. This is for all CubeSpace products. This includes low level functions and features for:

1. Communication Protocols (UART, RS485, I2C, CAN, Cubesat Space Protocol)
2. Events (decoding, relating to communication protocols)
3. Telemetry Logging (Inclusion Masks, Telemetry Encoding, Message format for communication protocols)
4. Firmware Operational Sequences (Bulk Data Transfer, Telecommand and Telemetry Pass-Through)
5. Error Logging
6. CubeSpace files

CubeObcLib User Manual

(CS-DEV.UM.COL-01) User Manual for the CubeObcLib library. This is a library written in C to facilitate integration into OBC. The library provides, but is not limited to, the following functionality:

1. Communication protocol handling (CAN, UART, etc..).
2. Packing and parsing of all TCTLM, for all CubeProduct API’s.
3. Wrapper functions that perform sequences of operations as needed by the firmware implementations. The user should explore the library for such available functions. Some examples are:
   1. Bulk Data Transfer (see [1])
   2. Firmware binary file uploads to bootloader (using Bulk Data Transfer)
   3. Event log download from CubeComputer (using Bulk Data Transfer)
   4. Telemetry log download from CubeComputer (using Bulk Data Transfer)
   5. Image log download from CubeComputer (using Bulk Data Transfer)

CubeSupport HMI User Manual

(CS-DEV) This is a User Manual for the CubeSupport software. CubeSupport serves to connect to interact with the CubeComputer from a Windows Computer. This document includes:

1. Installation guide for CubeSupport
2. UI of CubeSupport (including connection settings, encoders and decoders etc.)
3. How to start a connection when connecting the Cube
4. User Interface elements specific to specific CubeProducts
5. Scripts using CubeSupport (Built in Firmware Deployment Test and Basic Functional Test)

Client Mission Overview

This Word Document is an overview of the information given to CubeSpace from SAGE.

Testing

Health Checks

Health Checks have to be performed to make sure the hardware is good enough. The templates to be filled out can be found in this file. These documents filled out will (probably) be sent back to CubeSpace.

Hardware Name	Testing done?	Document filled out uploaded?
CubeComputer (DM)	[x]	[x]
CubeComputer
CubeWheel
CubeTorquer
CubeSenseSun
CSS
CubeSenseEarth
CubeMag
PPS

Environmental Testing

The environmental testing has already been done by CubeSpace and has been outlined in the Generic Enviromental Test Plan. This includes testing of:

• Thermal (Cold & Hot start)
• Thermal/Vacuum qualification testing
• Vibration qualification testing
• Shock qualification testing.
• Radiation testing

Generic Testing not fully done

• EMI/EMC testing
• Temperature Testing as outlined in file called "Temperature Tests" in this folder

Power Consumption

The power consumption was modeled in the CubeSpace simulation. It will be analyzed for each operational mode. The sensor components and the CubeComputer have been modeled to have a constant power consumption in the EOS simulation regardless of the operational mode.

Component	Power [W]
CubeComputer	0.231
CubeSense Sun	0.093
CubeSense Earth	0.2
CubeMag (undeployed)	0.05