diff --git a/.vscode/settings.json b/.vscode/settings.json index a124363..0f4f1c9 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -39,7 +39,10 @@ "xstring": "cpp", "xtr1common": "cpp", "xutility": "cpp", - "vector": "cpp" + "vector": "cpp", + "cctype": "cpp", + "sstream": "cpp", + "string": "cpp" }, "C_Cpp.clang_format_fallbackStyle": "LLVM", "editor.formatOnSave": true, diff --git a/include/Vehicle.h b/include/Vehicle.h index d4e0342..e570cc9 100644 --- a/include/Vehicle.h +++ b/include/Vehicle.h @@ -21,9 +21,8 @@ struct Vehicle { double burnVelocity; double thrust, burnElapsed, burnStart; bool thrustFiring = false; - ; - double LQRx, LQRy, Fx, Fy, Fz; + double PIDx, PIDy, Fx, Fy, Fz; double momentX, momentY, momentZ; double I11, I22, I33; @@ -32,6 +31,12 @@ struct Vehicle { int maxServo; double xServoDegs, yServoDegs; + double Kp, Ki, Kd; + double yError, yPrevError; + double pError, pPrevError; + double i_yError, i_pError = 0; + double d_yError, d_pError; + double simTime; int stepSize; }; diff --git a/include/outVector.h b/include/outVector.h index 0bbbf83..9b21427 100644 --- a/include/outVector.h +++ b/include/outVector.h @@ -4,7 +4,7 @@ #define OUTVECTOR_H struct outVector { - int length = 10000; // current sim runs ~5000 steps, x2 just in case + int length = 100000; // current sim runs ~5000 steps, x2 just in case std::vector x = std::vector(length, 0.0); std::vector y = std::vector(length, 0.0); @@ -30,6 +30,9 @@ struct outVector { std::vector servo2 = std::vector(length, 0.0); std::vector thrustFiring = std::vector(length, 0.0); + + std::vector PIDx = std::vector(length, 0.0); + std::vector PIDy = std::vector(length, 0.0); }; #endif \ No newline at end of file diff --git a/include/sim.h b/include/sim.h index 55add14..9d287a6 100644 --- a/include/sim.h +++ b/include/sim.h @@ -3,17 +3,17 @@ void burnStartTimeCalc(struct Vehicle &); void thrustSelection(struct Vehicle &, int t); -void lqrCalc(struct Vehicle &); +void pidController(struct Vehicle &, struct Vehicle &); void TVC(struct Vehicle &); void vehicleDynamics(struct Vehicle &, struct Vehicle &, int t); -void state2vec(struct Vehicle &, struct outVector &, int t); +void state2vec(struct Vehicle &, struct Vehicle &, struct outVector &, int t); void write2CSV(struct outVector &, struct Vehicle &); double derivative(double x2, double x1, double dt); double integral(double x2, double x1, double dt); // Any parameters that are constants should be declared here instead of buried // in code -double const dt = 0.001; +double const dt = 0.01; double const g = -9.81; bool sim(struct Vehicle &State, struct Vehicle &PrevState) { @@ -27,14 +27,14 @@ bool sim(struct Vehicle &State, struct Vehicle &PrevState) { // Start Sim do { - thrustSelection(State, t); - lqrCalc(State); - TVC(State); vehicleDynamics(State, PrevState, t); - state2vec(State, stateVector, t); + thrustSelection(State, t); + pidController(State, PrevState); + TVC(State); + state2vec(State, PrevState, stateVector, t); - t++; - } while ((State.z > 0.0) || (State.thrust > 1.0)); + t += State.stepSize; + } while ((State.z > 0.0) || (State.thrust > 0.1)); write2CSV(stateVector, State); @@ -57,7 +57,7 @@ void burnStartTimeCalc(Vehicle &State) { double velocity = State.vz; double h = 0; - double a, j, mass, thrust; + double mass, thrust; // Piecewise functions for F15 thrust curve for (double i = 0.148; i < 3.450; i = i + dt) { @@ -84,6 +84,84 @@ void burnStartTimeCalc(Vehicle &State) { State.simTime = (State.burntime + burnStartTime) * 1000; } +void vehicleDynamics(Vehicle &State, Vehicle &PrevState, int t) { + // Moment of Inertia + State.I11 = State.mass * ((1 / 12) * pow(State.vehicleHeight, 2) + + pow(State.vehicleRadius, 2) / 4); + State.I22 = State.mass * ((1 / 12) * pow(State.vehicleHeight, 2) + + pow(State.vehicleRadius, 2) / 4); + State.I33 = State.mass * 0.5 * pow(State.vehicleRadius, 2); + + // Idot + if (t < 0.1) { + State.I11dot = 0; + State.I22dot = 0; + State.I33dot = 0; + + State.x = 0; + State.y = 0; + + State.ax = 0; + State.ay = 0; + State.az = State.Fz / State.massInitial; + + } else { + State.I11dot = derivative(State.I11, PrevState.I11, State.stepSize); + State.I22dot = derivative(State.I22, PrevState.I22, State.stepSize); + State.I33dot = derivative(State.I33, PrevState.I33, State.stepSize); + + // pdot, qdot, rdot + State.yawddot = (State.momentX - State.I11dot * PrevState.yawdot + + State.I22 * PrevState.pitchdot * PrevState.rolldot - + State.I33 * PrevState.pitchdot * PrevState.rolldot) / + State.I11; + State.pitchddot = (State.momentY - State.I22dot * PrevState.pitchdot - + State.I11 * PrevState.rolldot * PrevState.yawdot + + State.I33 * PrevState.rolldot * PrevState.yawdot) / + State.I22; + State.rollddot = (State.momentZ - State.I33dot * PrevState.rolldot + + State.I11 * PrevState.pitchdot * PrevState.yawdot - + State.I22 * PrevState.pitchdot * PrevState.yawdot) / + State.I33; + + // p, q, r + State.yawdot = integral(State.yawddot, PrevState.yawdot, State.stepSize); + State.pitchdot = + integral(State.pitchddot, PrevState.pitchdot, State.stepSize); + State.rolldot = integral(State.rollddot, PrevState.rolldot, State.stepSize); + + // Euler Angles + State.phidot = + State.yawdot + (sin(State.pitch) * (State.rolldot * cos(State.yaw) + + State.pitchdot * sin(State.yaw))) / + cos(State.pitch); + State.thetadot = + State.pitchdot * cos(State.yaw) - State.rolldot * sin(State.yaw); + State.psidot = + (State.rolldot * cos(State.yaw) + State.pitchdot * sin(State.yaw)) / + cos(State.pitch); + + State.yaw = integral(State.phidot, PrevState.yaw, State.stepSize); + State.pitch = integral(State.thetadot, PrevState.pitch, State.stepSize); + State.roll = integral(State.psidot, PrevState.roll, State.stepSize); + + // ax ay az + State.ax = (State.Fx / State.mass); + State.ay = (State.Fy / State.mass); + State.az = (State.Fz / State.mass); + + // vx vy vz in Earth frame + State.vx = integral(State.ax, PrevState.vx, State.stepSize); + State.vy = integral(State.ay, PrevState.vy, State.stepSize); + State.vz = integral(State.az, PrevState.vz, State.stepSize); + + // Xe + State.x = integral(State.vx, PrevState.x, State.stepSize); + State.y = integral(State.vy, PrevState.y, State.stepSize); + State.z = integral(State.vz, PrevState.z, State.stepSize); + } +} + void thrustSelection(Vehicle &State, int t) { if (State.burnElapsed != 2000) { @@ -93,7 +171,7 @@ void thrustSelection(Vehicle &State, int t) { State.mass = State.massInitial - (State.mdot * State.burnElapsed); } - else if (abs(State.burnVelocity + State.vz) < .001) { + else if (abs(State.burnVelocity + State.vz) < 0.001) { // Start burn State.burnStart = t; State.burnElapsed = 0; @@ -105,6 +183,7 @@ void thrustSelection(Vehicle &State, int t) { if ((State.burnElapsed > 0.147) && (State.burnElapsed < 0.420)) { State.thrustFiring = true; State.thrust = 65.165 * State.burnElapsed - 2.3921; + } else if ((State.burnElapsed > 0.419) && (State.burnElapsed < 3.383)) State.thrust = 0.8932 * pow(State.burnElapsed, 6) - 11.609 * pow(State.burnElapsed, 5) + @@ -114,71 +193,58 @@ void thrustSelection(Vehicle &State, int t) { 174.43 * State.burnElapsed + 67.17; else if ((State.burnElapsed > 3.382) && (State.burnElapsed < 3.46)) - State.thrust = -195.78 * State.burnElapsed + 675.11; + State.thrust = -195.78 * State.burnElapsed - 675.11; - if (State.burnElapsed > 3.45) + if (State.burnElapsed > 3.45) { State.thrustFiring = false; + State.thrust = 0; + } } -void lqrCalc(Vehicle &State) { +void pidController(Vehicle &State, struct Vehicle &PrevState) { + // Make sure we start reacting when we start burning + if (State.thrust > 0.01) { - State.I11 = State.mass * ((1 / 12) * pow(State.vehicleHeight, 2) + - pow(State.vehicleRadius, 2) / 4); - State.I22 = State.mass * ((1 / 12) * pow(State.vehicleHeight, 2) + - pow(State.vehicleRadius, 2) / 4); - State.I33 = State.mass * 0.5 * pow(State.vehicleRadius, 2); + State.yError = State.yaw; + State.pError = State.pitch; - // Paste in Values from gainCalc.m - double K11 = 39.54316; - double K12 = 0.00000; - double K13 = -0.00000; - double K14 = 39.55769; - double K15 = 0.00000; - double K16 = 0.00000; - double K21 = 0.00000; - double K22 = 39.54316; - double K23 = 0.00000; - double K24 = 0.00000; - double K25 = 39.55769; - double K26 = 0.00000; - double K31 = 0.00000; - double K32 = 0.00000; - double K33 = 39.54316; - double K34 = 0.00000; - double K35 = 0.00000; - double K36 = 39.54394; + // Integral of Error + State.i_yError = integral(State.yError, State.i_yError, State.stepSize); + State.i_pError = integral(State.pError, State.i_pError, State.stepSize); - // changing gain exponent drastically changes results of LQR - double gain = 0.25 * pow(10, -4); + // Derivative of Error + State.d_yError = derivative(State.yError, PrevState.yError, State.stepSize); + State.d_pError = derivative(State.pError, PrevState.pError, State.stepSize); - // Matrix Multiply K with [YPR/2; w123] column vector and divide by moment - // arm - State.LQRx = - gain * - ((K12 * State.pitch) / 2 + K15 * State.pitchdot + (K13 * State.roll) / 2 + - K16 * State.rolldot + (K11 * State.yaw) / 2 + K14 * State.yawdot) / - -State.momentArm; - State.LQRy = - gain * - ((K22 * State.pitch) / 2 + K25 * State.pitchdot + (K23 * State.roll) / 2 + - K26 * State.rolldot + (K21 * State.yaw) / 2 + K24 * State.yawdot) / - -State.momentArm; + // TVC block properly - // LQR Force limiter X - if (State.LQRx > State.thrust) - State.LQRx = State.thrust; - else if (State.LQRx < -1 * State.thrust) - State.LQRx = -1 * State.thrust; + State.PIDx = (State.Kp * State.yError + State.Ki * State.i_yError + + State.Kd * State.d_yError) / + State.momentArm; + State.PIDy = (State.Kp * State.pError + State.Ki * State.i_pError + + State.Kd * State.d_pError) / + State.momentArm; - // LQR Force limiter Y - if (State.LQRy > State.thrust) - State.LQRy = State.thrust; - else if (State.LQRy < -1 * State.thrust) - State.LQRy = -1 * State.thrust; + } else { + State.PIDx = 0; + State.PIDy = 0; + } + + // PID Force limiter X + if (State.PIDx > State.thrust) + State.PIDx = State.thrust; + else if (State.PIDx < -1 * State.thrust) + State.PIDx = -1 * State.thrust; + + // PID Force limiter Y + if (State.PIDy > State.thrust) + State.PIDy = State.thrust; + else if (State.PIDy < -1 * State.thrust) + State.PIDy = -1 * State.thrust; } void TVC(Vehicle &State) { - if (State.thrust < 1) { + if (State.thrust < 0.1) { // Define forces and moments for t = 0 State.Fx = 0; State.Fy = 0; @@ -187,9 +253,10 @@ void TVC(Vehicle &State) { State.momentX = 0; State.momentY = 0; State.momentZ = 0; + } else { // Convert servo position to degrees for comparison to max allowable - State.xServoDegs = (180 / M_PI) * asin(State.LQRx / State.thrust); + State.xServoDegs = (180 / M_PI) * asin(State.PIDx / State.thrust); // Servo position limiter if (State.xServoDegs > State.maxServo) @@ -198,7 +265,7 @@ void TVC(Vehicle &State) { State.xServoDegs = -1 * State.maxServo; // Convert servo position to degrees for comparison to max allowable - State.yServoDegs = (180 / M_PI) * asin(State.LQRy / State.thrust); + State.yServoDegs = (180 / M_PI) * asin(State.PIDy / State.thrust); // Servo position limiter if (State.yServoDegs > State.maxServo) @@ -210,7 +277,7 @@ void TVC(Vehicle &State) { State.Fx = State.thrust * sin(State.xServoDegs * (M_PI / 180)); State.Fy = State.thrust * sin(State.yServoDegs * (M_PI / 180)); State.Fz = - sqrt(pow(State.thrust, 2) - (pow(State.Fx, 2) + pow(State.Fy, 2))) + + sqrt(pow(State.thrust, 2) - pow(State.Fx, 2) - pow(State.Fy, 2)) + (State.mass * g); // Calculate moment created by Fx and Fy @@ -220,86 +287,8 @@ void TVC(Vehicle &State) { } } -void vehicleDynamics(Vehicle &State, Vehicle &PrevState, int t) { - // Idot - if (t < 1) { - State.I11dot = 0; - State.I22dot = 0; - State.I33dot = 0; - } else { - State.I11dot = derivative(State.I11, PrevState.I11, State.stepSize); - State.I22dot = derivative(State.I22, PrevState.I22, State.stepSize); - State.I33dot = derivative(State.I33, PrevState.I33, State.stepSize); - } - - // pdot, qdot, rdot - State.yawddot = (State.momentX - State.I11dot * State.yawdot + - State.I22 * State.pitchdot * State.rolldot - - State.I33 * State.pitchdot * State.rolldot) / - State.I11; - State.pitchddot = (State.momentY - State.I22dot * State.pitchdot - - State.I11 * State.rolldot * State.yawdot + - State.I33 * State.rolldot * State.yawdot) / - State.I22; - State.rollddot = (State.momentZ - State.I33dot * State.rolldot + - State.I11 * State.pitchdot * State.yawdot - - State.I22 * State.pitchdot * State.yawdot) / - State.I33; - - if (t < 1) { - State.x = 0; - State.y = 0; - - State.ax = 0; - State.ay = 0; - State.az = State.Fz / State.massInitial; - } - - else { - // p, q, r - State.yawdot = integral(State.yawddot, PrevState.yawdot, State.stepSize); - State.pitchdot = - integral(State.pitchddot, PrevState.pitchdot, State.stepSize); - State.rolldot = integral(State.rollddot, PrevState.rolldot, State.stepSize); - - // ax ay az - State.ax = (State.Fx / State.mass) + - (State.pitchdot * State.vz - State.rolldot * State.vy); - State.ay = (State.Fy / State.mass) + - (State.rolldot * State.vx - State.vz * State.yawdot); - State.az = (State.Fz / State.mass) + - (State.vy * State.yawdot - State.pitchdot * State.vx); - - // vx vy vz in Body frame - State.vx = integral(State.ax, PrevState.vx, State.stepSize); - State.vy = integral(State.ay, PrevState.vy, State.stepSize); - State.vz = integral(State.az, PrevState.vz, State.stepSize); - - // Xe - State.x = integral(State.vx, PrevState.x, State.stepSize); - State.y = integral(State.vy, PrevState.y, State.stepSize); - State.z = integral(State.vz, PrevState.z, State.stepSize); - - // Euler Angles - State.phidot = State.yawdot + (State.pitchdot * sin(State.yaw) + - State.rolldot * cos(State.yaw)) * - (sin(State.pitch) / cos(State.pitch)); - State.thetadot = - State.pitchdot * cos(State.yaw) - State.rolldot * sin(State.pitch); - State.psidot = - (State.pitchdot * sin(State.yaw) + State.rolldot * cos(State.yaw)) / - cos(State.pitch); - - State.yaw = integral(State.phidot, PrevState.yaw, State.stepSize); - State.pitch = integral(State.thetadot, PrevState.pitch, State.stepSize); - State.roll = integral(State.psidot, PrevState.roll, State.stepSize); - } - - // Set "prev" values for next timestep - PrevState = State; -} - -void state2vec(Vehicle &State, outVector &stateVector, int t) { +void state2vec(Vehicle &State, Vehicle &PrevState, outVector &stateVector, + int t) { stateVector.x[t] = State.x; stateVector.y[t] = State.y; stateVector.z[t] = State.z; @@ -324,6 +313,12 @@ void state2vec(Vehicle &State, outVector &stateVector, int t) { stateVector.servo2[t] = State.yServoDegs; stateVector.thrustFiring[t] = State.thrustFiring; + + stateVector.PIDx[t] = State.PIDx; + stateVector.PIDy[t] = State.PIDy; + + // Set "prev" values for next timestep + PrevState = State; } void write2CSV(outVector &stateVector, Vehicle &State) { @@ -341,13 +336,14 @@ void write2CSV(outVector &stateVector, Vehicle &State) { // Output file header. These are the variables that we output - useful for // debugging outfile << "t, x, y, z, vx, vy, vz, ax, ay, az, yaw, pitch, roll, yawdot, " - "pitchdot, rolldot, Servo1, Servo2, thrustFiring" + "pitchdot, rolldot, Servo1, Servo2, thrustFiring, PIDx, PIDy, " + "thrust, deriv" << std::endl; std::cout << "Writing to csv...\n"; // writing to output file - for (int t = 0; t < State.simTime; t++) { + for (int t = 0; t < State.simTime; t += State.stepSize) { outfile << t << ", "; outfile << stateVector.x[t] << ", "; @@ -373,14 +369,18 @@ void write2CSV(outVector &stateVector, Vehicle &State) { outfile << stateVector.servo1[t] << ", "; outfile << stateVector.servo2[t] << ", "; - outfile << stateVector.thrustFiring[t] << std::endl; + outfile << stateVector.thrustFiring[t] << ", "; + + outfile << stateVector.PIDx[t] << ", "; + outfile << stateVector.PIDy[t] << std::endl; } outfile.close(); + std::cout << "Output File Closed\n"; } double derivative(double current, double previous, double step) { - double dxdt = (previous - current) / (step / 1000); + double dxdt = (current - previous) / (step / 1000); return dxdt; } diff --git a/input.csv b/input.csv index 85abb23..4585dcf 100644 --- a/input.csv +++ b/input.csv @@ -1,17 +1,20 @@ vx,0,m/s vy,0,m/s vz,0,m/s -yaw,5,degs -pitch,10,degs +yaw,75,degs +pitch,30,degs roll,0,degs -yawdot,1,degs/s -pitchdot,-1,degs/s +yawdot,0,degs/s +pitchdot,0,degs/s rolldot,0,degs/s -Max Servo Rotation,7.5,degs +Max Servo Rotation,7,degs Initial Mass,1.2,kg Propellant Mass,0.06,kg -Burn Time,3.3,s -Vehicle Height,0.53,m -Vehicle Radius,0.05,m -Moment Arm,0.15,m +Burn Time,3.302,s +Vehicle Height,0.5318,m +Vehicle Radius,0.05105,m +Moment Arm,0.145,m Sim Step Size,1,ms +Kp,-6.8699,x +Ki,0,x +Kd,-0.775,x diff --git a/matlabHelpers/gainCalc.m b/matlabHelpers/gainCalc.m index 4301efe..387fb14 100644 --- a/matlabHelpers/gainCalc.m +++ b/matlabHelpers/gainCalc.m @@ -36,7 +36,7 @@ S = icare(A, B, Q, R); K = Rinv * B' * S; %% Outputs -% Copy results in command window to LQRcalc function in C++ +% Copy results in command window to PIDcalc function in C++ fprintf("double K11 = %3.5f;\n", K(1, 1)) fprintf("double K12 = %3.5f;\n", K(1, 2)) fprintf("double K13 = %3.5f;\n", K(1, 3)) diff --git a/matlabHelpers/simPlot.m b/matlabHelpers/simPlot.m index f15e1c6..3f3a4cf 100644 --- a/matlabHelpers/simPlot.m +++ b/matlabHelpers/simPlot.m @@ -27,6 +27,9 @@ rolldot = T(:, 16); Servo1 = T(:, 17); Servo2 = T(:, 18); +PIDx = T(:, 20); +PIDy = T(:, 21); + % Acceleration subplot(3, 1, 1) plot(t, az) @@ -91,3 +94,20 @@ title('Servo 2 Position vs Time') xlabel('Time (ms)') ylabel('Servo 2 Position (rad)') %saveas(gcf,'outputs/Servo Position vs Time.png') + +figure(4) + +% Servo 1 Position +subplot(2, 1, 1) +plot(t, PIDx) +title('PIDx vs Time') +xlabel('Time (ms)') +ylabel('PIDx') + +% Servo 2 Position +subplot(2, 1, 2) +plot(t, PIDy) +title('PIDy vs Time') +xlabel('Time (ms)') +ylabel('PIDy') +%saveas(gcf,'outputs/Servo Position vs Time.png') diff --git a/src/main.cpp b/src/main.cpp index c1a7562..304d9a2 100644 --- a/src/main.cpp +++ b/src/main.cpp @@ -3,9 +3,9 @@ #include #include #include -#include #include // std::runtime_error #include +#include #include #include "Vehicle.h" @@ -24,62 +24,70 @@ int main() { if (!inFile.is_open()) throw std::runtime_error("Could not open file"); - std::vector varValueVec = std::vector(17, 0.0); + std::vector varValueVec = std::vector(20, 0.0); std::string varName, varValue, varUnits; - for (int i; i < 17; i++) { + for (int i; i < 20; i++) { std::getline(inFile, varName, ','); std::getline(inFile, varValue, ','); varValueVec[i] = stod(varValue); std::getline(inFile, varUnits); - } + } // Initial Velocity - State.vx = varValueVec[0]; // [m/s] - State.vy = varValueVec[1]; // [m/s] - State.vz = varValueVec[2]; // [m/s] + State.vx = varValueVec[0]; // [m/s] + State.vy = varValueVec[1]; // [m/s] + State.vz = varValueVec[2]; // [m/s] - // Initial YPR - State.yaw = varValueVec[3] * M_PI / 180; // [rad] - State.pitch = varValueVec[4] * M_PI / 180; // [rad] - State.roll = varValueVec[5] * M_PI / 180; // [rad] + // Initial YPR + State.yaw = varValueVec[3] * M_PI / 180; // [rad] + State.pitch = varValueVec[4] * M_PI / 180; // [rad] + State.roll = varValueVec[5] * M_PI / 180; // [rad] - // Initial YPRdot - State.yawdot = varValueVec[6] * M_PI / 180; // [rad/s] - State.pitchdot = varValueVec[7] * M_PI / 180; // [rad/s] - State.rolldot = varValueVec[8] * M_PI / 180; // [rad/s] + // Initial YPRdot + State.yawdot = varValueVec[6] * M_PI / 180; // [rad/s] + State.pitchdot = varValueVec[7] * M_PI / 180; // [rad/s] + State.rolldot = varValueVec[8] * M_PI / 180; // [rad/s] - // Servo Limitation - State.maxServo = varValueVec[9]; // [degs] + // Servo Limitation + State.maxServo = varValueVec[9]; // [degs] - // Vehicle Properties - State.massInitial = varValueVec[10]; // [kg] - State.vehicleHeight = varValueVec[13]; // [m] - State.vehicleRadius = varValueVec[14]; // [m] - State.momentArm = varValueVec[15]; // [m] + // Vehicle Properties + State.massInitial = varValueVec[10]; // [kg] + State.vehicleHeight = varValueVec[13]; // [m] + State.vehicleRadius = varValueVec[14]; // [m] + State.momentArm = varValueVec[15]; // [m] - // Sim Step Size - State.stepSize = varValueVec[16]; // [ms] + // Sim Step Size + State.stepSize = varValueVec[16]; // [ms] - // Other Properties - State.burntime = varValueVec[12]; // [s] - State.massPropellant = varValueVec[11]; // [kg] - State.massBurnout = State.massInitial - State.massPropellant; // [kg] - State.mdot = State.massPropellant / State.burntime; // [kg/s] - State.mass = State.massInitial; // [kg] - State.burnElapsed = 2000; // [s] - PrevState.thrust = 0; // [N] + // PID Gains + State.Kp = varValueVec[17]; + State.Ki = varValueVec[18]; + State.Kd = varValueVec[19]; - bool outcome = sim(State, PrevState); + // Other Properties + State.burntime = varValueVec[12]; // [s] + State.massPropellant = varValueVec[11]; // [kg] + State.massBurnout = State.massInitial - State.massPropellant; // [kg] + State.mdot = State.massPropellant / State.burntime; // [kg/s] + State.mass = State.massInitial; // [kg] + State.burnElapsed = 2000; // [s] + PrevState.thrust = 0; // [N] - std::cout << "Finished" - << "\n"; + PrevState = State; + + std::cout << "START\n"; + bool outcome = sim(State, PrevState); - if (outcome == 1) { - std::cout << "Sim Result = Success!"; - return 0; + std::cout << "Finished\n"; + + if (outcome == 1) { + std::cout << "Sim Result = Success!"; + return 0; } else if (outcome == 0) { std::cout << "Sim Result = Failed!"; + // return 1; Until I figure out how to make CI/CD continue even when run // fails. return 0;