\defgroup fam Force Allocation Module (FAM) \ingroup gnc

The force allocation module (FAM) converts the force and torques output by control into PMC speeds and nozzle positions.

Inputs

• gnc/ctl/command: the control command which the FAM follows, containing force and torque.

Outputs

• hw/pmc/command: The commands for the PMC to execute to obtain the desired force and torque.