reformatted code

include/sVars.h

@@ -3,8 +3,7 @@
 #ifndef SVARS_H
 #define SVARS_H
 
-struct sVars
+struct sVars {
-{
   double x, y, z;
   double xPrev, yPrev, zPrev;
   double vx, vy, vz;

src/main.cpp

@@ -1,11 +1,10 @@
-#include "sim.h"
 #include "sVars.h"
+#include "sim.h"
 #include <iostream>
 
 void sim(struct sVars &);
 
-int main()
+int main() {
-{
   sVars Vars;
 
   // Initial Velocity

src/sim.cpp

@@ -4,8 +4,7 @@
 #include <iostream>
 #include <stdio.h>
 
-void sim(struct sVars &Vars)
+void sim(struct sVars &Vars) {
-{
   double g = -9.81;
 
   // defining a few random values here cause I'm lazy
@@ -27,14 +26,15 @@ void sim(struct sVars &Vars)
 
   // 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, "
+  outfile
-               "pitchdot, rolldot, yawddot, pitchddot, rollddot, I11, I22, I33, I11dot, I22dot, I33dot, Servo1, Servo2, m, thrust, burnElapsed, Fz, "
+      << "t, x, y, z, vx, vy, vz, ax, ay, az, yaw, pitch, roll, yawdot, "
+         "pitchdot, rolldot, yawddot, pitchddot, rollddot, I11, I22, I33, "
+         "I11dot, I22dot, I33dot, Servo1, Servo2, m, thrust, burnElapsed, Fz, "
          "LQRx, LQRy"
       << std::endl;
 
   // Start Sim
-    for (int t = 0; t < Vars.simTime; t++)
+  for (int t = 0; t < Vars.simTime; t++) {
-    {
     thrustSelection(Vars, t);
     lqrCalc(Vars);
     TVC(Vars, g);
@@ -45,22 +45,21 @@ void sim(struct sVars &Vars)
   outfile.close();
 }
 
-void burnStartTimeCalc(struct sVars &Vars, double g)
+void burnStartTimeCalc(struct sVars &Vars, double g) {
-{
   double v = Vars.vz;
   double h = 0;
   double dt = 0.001;
   double a, j, m, thrust;
 
-    for (double i = 0.148; i < 3.450; i = i + dt)
+  for (double i = 0.148; i < 3.450; i = i + dt) {
-    {
     m = Vars.m0 - i * Vars.mdot;
 
     if ((i > 0.147) & (i < 0.420))
       thrust = 65.165 * i - 2.3921;
 
     else if ((i > 0.419) & (i < 3.383))
-            thrust = 0.8932 * pow(i, 6) - 11.609 * pow(i, 5) + 60.739 * pow(i, 4) - 162.99 * pow(i, 3) + 235.6 * pow(i, 2) - 174.43 * i + 67.17;
+      thrust = 0.8932 * pow(i, 6) - 11.609 * pow(i, 5) + 60.739 * pow(i, 4) -
+               162.99 * pow(i, 3) + 235.6 * pow(i, 2) - 174.43 * i + 67.17;
 
     else if ((i > 3.382) & (i < 3.46))
       thrust = -195.78 * i + 675.11;
@@ -76,24 +75,21 @@ void burnStartTimeCalc(struct sVars &Vars, double g)
   Vars.simTime = (Vars.tb + burnStartTime) * 1000;
 }
 
-void thrustSelection(struct sVars &Vars, int t)
+void thrustSelection(struct sVars &Vars, int t) {
-{
   double tol = 0.001; // 0.001 seems to be a nice tolerance
 
   // Check to see if current velocity is close to the F15's total velocity
   bool b_burnStart = (Vars.vb < (1 + tol) * Vars.vz * -1) &
                      (Vars.vb > (1 - tol) * Vars.vz * -1);
 
-    if (Vars.burnElapsed != 2000)
+  if (Vars.burnElapsed != 2000) {
-    {
     // determine where in the thrust curve we're at based on elapsed burn time
     // as well as current mass
     Vars.burnElapsed = (t - Vars.burnStart) / 1000;
     Vars.m = Vars.m0 - (Vars.mdot * Vars.burnElapsed);
   }
 
-    else if (b_burnStart)
+  else if (b_burnStart) {
-    {
     // Start burn
     Vars.burnStart = t;
     Vars.burnElapsed = 0;
@@ -106,14 +102,16 @@ void thrustSelection(struct sVars &Vars, int t)
     Vars.thrust = 65.165 * Vars.burnElapsed - 2.3921;
 
   else if ((Vars.burnElapsed > 0.419) & (Vars.burnElapsed < 3.383))
-        Vars.thrust = 0.8932 * pow(Vars.burnElapsed, 6) - 11.609 * pow(Vars.burnElapsed, 5) + 60.739 * pow(Vars.burnElapsed, 4) - 162.99 * pow(Vars.burnElapsed, 3) + 235.6 * pow(Vars.burnElapsed, 2) - 174.43 * Vars.burnElapsed + 67.17;
+    Vars.thrust =
+        0.8932 * pow(Vars.burnElapsed, 6) - 11.609 * pow(Vars.burnElapsed, 5) +
+        60.739 * pow(Vars.burnElapsed, 4) - 162.99 * pow(Vars.burnElapsed, 3) +
+        235.6 * pow(Vars.burnElapsed, 2) - 174.43 * Vars.burnElapsed + 67.17;
 
   else if ((Vars.burnElapsed > 3.382) & (Vars.burnElapsed < 3.46))
     Vars.thrust = -195.78 * Vars.burnElapsed + 675.11;
 }
 
-void lqrCalc(struct sVars &Vars)
+void lqrCalc(struct sVars &Vars) {
-{
 
   Vars.I11 = Vars.m * ((1 / 12) * pow(Vars.vehicleHeight, 2) +
                        pow(Vars.vehicleRadius, 2) / 4);
@@ -198,11 +196,21 @@ void lqrCalc(struct sVars &Vars)
   double K35 = 0.00000;
   double K36 = 39.54394;
 
-    double gain = 0.25 * pow(10, -4); // changing exponenet drastically changes results of LQR
+  double gain =
+      0.25 *
+      pow(10, -4); // changing exponenet drastically changes results of LQR
 
   // Matrix Multiply K with [YPR/2; w123] column vector and divide by moment arm
-    Vars.LQRx = gain * ((K12 * Vars.pitch) / 2 + K15 * Vars.pitchdot + (K13 * Vars.roll) / 2 + K16 * Vars.rolldot + (K11 * Vars.yaw) / 2 + K14 * Vars.yawdot) / -Vars.momentArm;
+  Vars.LQRx =
-    Vars.LQRy = gain * ((K22 * Vars.pitch) / 2 + K25 * Vars.pitchdot + (K23 * Vars.roll) / 2 + K26 * Vars.rolldot + (K21 * Vars.yaw) / 2 + K24 * Vars.yawdot) / -Vars.momentArm;
+      gain *
+      ((K12 * Vars.pitch) / 2 + K15 * Vars.pitchdot + (K13 * Vars.roll) / 2 +
+       K16 * Vars.rolldot + (K11 * Vars.yaw) / 2 + K14 * Vars.yawdot) /
+      -Vars.momentArm;
+  Vars.LQRy =
+      gain *
+      ((K22 * Vars.pitch) / 2 + K25 * Vars.pitchdot + (K23 * Vars.roll) / 2 +
+       K26 * Vars.rolldot + (K21 * Vars.yaw) / 2 + K24 * Vars.yawdot) /
+      -Vars.momentArm;
 
   // LQR Force limiter X
   if (Vars.LQRx > Vars.thrust)
@@ -217,10 +225,8 @@ void lqrCalc(struct sVars &Vars)
     Vars.LQRy = -1 * Vars.thrust;
 }
 
-void TVC(struct sVars &Vars, double g)
+void TVC(struct sVars &Vars, double g) {
-{
+  if (Vars.thrust < 1) {
-    if (Vars.thrust < 1)
-    {
     // Define forces and moments for t = 0
     Vars.Fx = 0;
     Vars.Fy = 0;
@@ -231,8 +237,7 @@ void TVC(struct sVars &Vars, double g)
     Vars.momentZ = 0;
   }
 
-    else
+  else {
-    {
     // Convert servo position to degrees for comparison to max allowable
     Vars.xServoDegs = (180 / 3.1416) * asin(Vars.LQRx / Vars.thrust);
 
@@ -264,17 +269,13 @@ void TVC(struct sVars &Vars, double g)
   }
 }
 
-void vehicleDynamics(struct sVars &Vars, int t)
+void vehicleDynamics(struct sVars &Vars, int t) {
-{
   // Idot
-    if (t < 1)
+  if (t < 1) {
-    {
     Vars.I11dot = 0;
     Vars.I22dot = 0;
     Vars.I33dot = 0;
-    }
+  } else {
-    else
-    {
     Vars.I11dot = derivative(Vars.I11, Vars.I11prev, Vars.stepSize);
     Vars.I22dot = derivative(Vars.I22, Vars.I22prev, Vars.stepSize);
     Vars.I33dot = derivative(Vars.I33, Vars.I33prev, Vars.stepSize);
@@ -294,8 +295,7 @@ void vehicleDynamics(struct sVars &Vars, int t)
                    Vars.I22 * Vars.pitchdot * Vars.yawdot) /
                   Vars.I33;
 
-    if (t < 1)
+  if (t < 1) {
-    {
     Vars.x = 0;
     Vars.y = 0;
 
@@ -304,8 +304,7 @@ void vehicleDynamics(struct sVars &Vars, int t)
     Vars.az = Vars.Fz / Vars.m0;
   }
 
-    else
+  else {
-    {
     // p, q, r
     Vars.yawdot = integral(Vars.yawddot, Vars.yawdotPrev, Vars.stepSize);
     Vars.pitchdot = integral(Vars.pitchddot, Vars.pitchdotPrev, Vars.stepSize);
@@ -374,8 +373,7 @@ void vehicleDynamics(struct sVars &Vars, int t)
   Vars.zPrev = Vars.z;
 }
 
-void write2CSV(struct sVars &Vars, std::fstream &outfile, int t)
+void write2CSV(struct sVars &Vars, std::fstream &outfile, int t) {
-{
   // writing to output file
   outfile << t << ", ";
 
@@ -423,14 +421,12 @@ void write2CSV(struct sVars &Vars, std::fstream &outfile, int t)
   outfile << Vars.LQRy << std::endl;
 }
 
-double derivative(double x2, double x1, double dt)
+double derivative(double x2, double x1, double dt) {
-{
   double dxdt = (x2 - x1) / (dt / 1000);
   return dxdt;
 }
 
-double integral(double x, double y, double dt)
+double integral(double x, double y, double dt) {
-{
   double integ = (x * dt / 1000) + y;
   return integ;
 }