def METHOD_NAME(show_plots):
    """ Test the dvGuidance module. Setup a simulation, write a DvBurnCmdFswMsg, and confirm that dvGuidance outputs the
        correct values. """
    testFailCount = 0  # zero unit test result counter
    testMessages = []  # create empty array to store test log messages
    unitTaskName = "unitTask"  # arbitrary name (don't change)
    unitProcessName = "TestProcess"  # arbitrary name (don't change)
    # Create a sim module as an empty container
    unitTestSim = SimulationBaseClass.SimBaseClass()
    # This is needed if multiple unit test scripts are run
    # This create a fresh and consistent simulation environment for each test run
    # Create test thread
    testProcessRate = macros.sec2nano(0.5)  # update process rate update time
    testProc = unitTestSim.CreateNewProcess(unitProcessName)
    testProc.addTask(unitTestSim.CreateNewTask(unitTaskName, testProcessRate))  # Add a new task to the process
    # Construct the dvGuidance module
    module = dvGuidance.dvGuidance()
    # This calls the algContain to setup the selfInit, and update
    module.ModelTag = "dvGuidance"
    # Add the module to the task
    unitTestSim.AddModelToTask(unitTaskName, module)
    # The dvGuidance module reads in from the dvBurnCmd, so create that message here
    dvBurnCmdMsg = messaging.DvBurnCmdMsgPayload()
    # NOTE: This is nonsense. These are random numbers
    dvBurnCmdMsg.dvInrtlCmd = [5, 5, 5]
    dvBurnCmdMsg.dvRotVecUnit = [1, 0, 0]
    dvBurnCmdMsg.dvRotVecMag = .5
    dvBurnCmdMsg.burnStartTime = macros.sec2nano(0.5)
    # Write this message
    dvBurnInMsg = messaging.DvBurnCmdMsg().write(dvBurnCmdMsg)
    # Log the output message
    # unitTestSim.TotalSim.logThisMessage(module.outputDataName, testProcessRate)
    dataLog = module.attRefOutMsg.recorder()
    unitTestSim.AddModelToTask(unitTaskName, dataLog)
    # connect messages
    module.burnDataInMsg.subscribeTo(dvBurnInMsg)
    # Initialize the simulation
    unitTestSim.InitializeSimulation()
    #   Step the simulation to 3*process rate so 4 total steps including zero
    unitTestSim.ConfigureStopTime(macros.sec2nano(1.0)) # seconds to stop simulation
    unitTestSim.ExecuteSimulation()
    # Get the output from this simulation
    moduleOutputName = 'dvAttGuidance'
    outSigma = dataLog.sigma_RN
    outOmega = dataLog.omega_RN_N
    outDOmega = dataLog.domega_RN_N
    # NOTE: these values are just from a previous run. These should be validated
    trueSigma = [[5.69822629e-01, 1.99143700e-01, 2.72649472e-01],
                 [6.12361487e-01, 1.31298090e-01, 3.16981631e-01],
                 [6.50967464e-01, 5.62624705e-02, 3.61117890e-01]]
    trueOmega = [[4.08248290e-01, -2.04124145e-01, -2.04124145e-01],
                 [4.08248290e-01, -2.04124145e-01, -2.04124145e-01],
                 [4.08248290e-01, -2.04124145e-01, -2.04124145e-01]]
    trueDOmega =[[0.00000000e+00, 0.00000000e+00, 0.00000000e+00],
                 [0.00000000e+00, 0.00000000e+00, 0.00000000e+00],
                 [0.00000000e+00, 0.00000000e+00, 0.00000000e+00]]
    accuracy = 1e-9
    unitTestSupport.writeTeXSnippet("toleranceValue", str(accuracy), path)
    for i in range(len(trueSigma)):
        # check a vector values
        if not unitTestSupport.isArrayEqual(outSigma[i], trueSigma[i], 3, accuracy):
            testFailCount += 1
            testMessages.append(
                "FAILED: " + module.ModelTag + " Module failed sigma_RN unit test at t=" + str(
                    dataLog.times()[i] * macros.NANO2SEC) + "sec\n")
        if not unitTestSupport.isArrayEqual(outOmega[i], trueOmega[i], 3, accuracy):
            testFailCount += 1
            testMessages.append(
                "FAILED: " + module.ModelTag + " Module failed omega_RN_N unit test at t=" + str(
                    dataLog.times()[i] * macros.NANO2SEC) + "sec\n")
        if not unitTestSupport.isArrayEqual(outDOmega[i], trueDOmega[i], 3, accuracy):
            testFailCount += 1
            testMessages.append(
                "FAILED: " + module.ModelTag + " Module failed domega_RN_N unit test at t=" + str(
                    dataLog.times()[i] * macros.NANO2SEC) + "sec\n")
    # print(outSigma)
    # print(outOmega)
    # print(outDOmega)
    plt.figure()
    plt.plot(dataLog.times() * macros.NANO2SEC, outSigma[:, 0], label="Sigma 1")
    plt.plot(dataLog.times() * macros.NANO2SEC, outSigma[:, 1], label="Sigma 2")
    plt.plot(dataLog.times() * macros.NANO2SEC, outSigma[:, 2], label="Sigma 3")
    plt.legend(loc='upper left')
    plt.xlabel('Time [s]')
    plt.ylabel('Sigma')
    plt.figure()
    plt.plot(dataLog.times() * macros.NANO2SEC, outOmega[:, 0], label="Omega 1")
    plt.plot(dataLog.times() * macros.NANO2SEC, outOmega[:, 1], label="Omega 2")
    plt.plot(dataLog.times() * macros.NANO2SEC, outOmega[:, 2], label="Omega 3")
    plt.legend(loc='upper left')
    plt.xlabel('Time [s]')
    plt.ylabel('Omega [rad/s]')
    plt.figure()
    plt.plot(dataLog.times() * macros.NANO2SEC, outDOmega[:, 0], label="DOmega 1")
    plt.plot(dataLog.times() * macros.NANO2SEC, outDOmega[:, 1], label="DOmega 2")
    plt.plot(dataLog.times() * macros.NANO2SEC, outDOmega[:, 2], label="DOmega 3")
    plt.legend(loc='upper left')
    plt.xlabel('Time [s]')
    plt.ylabel('DOmega')
    if show_plots:
        plt.show()
    snippentName = "passFail"
    if testFailCount == 0:
        colorText = 'ForestGreen'
        print("PASSED: " + module.ModelTag)
        passedText = r'\textcolor{' + colorText + '}{' + "PASSED" + '}'
    else:
        colorText = 'Red'
        print("Failed: " + module.ModelTag)
        passedText = r'\textcolor{' + colorText + '}{' + "Failed" + '}'
    unitTestSupport.writeTeXSnippet(snippentName, passedText, path)
    return [testFailCount, ''.join(testMessages)]