Anson/Lander-Embedded
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Added thrust logging, deleted deriv column along with spaces in csv file

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bpmcgeeney 2021-10-15 13:04:46 -07:00
parent 016ddc1261
commit 2f4a9044ef
2 changed files with 29 additions and 23 deletions
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2
include/outVector.h
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@ -33,6 +33,8 @@ struct outVector {
std::vector<double> PIDx = std::vector<double>(length, 0.0); std::vector<double> PIDx = std::vector<double>(length, 0.0);
std::vector<double> PIDy = std::vector<double>(length, 0.0); std::vector<double> PIDy = std::vector<double>(length, 0.0);
std::vector<double> thrust = std::vector<double>(length, 0.0);
}; };
#endif #endif

50
include/sim.h
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@ -10,8 +10,8 @@ void TVC(struct Vehicle &, struct Vehicle &);
void vehicleDynamics(struct Vehicle &, struct Vehicle &, int t); void vehicleDynamics(struct Vehicle &, struct Vehicle &, int t);
void state2vec(struct Vehicle &, struct Vehicle &, struct outVector &, int t); void state2vec(struct Vehicle &, struct Vehicle &, struct outVector &, int t);
void write2CSV(struct outVector &, struct Vehicle &); void write2CSV(struct outVector &, struct Vehicle &);
double derivative(double x2, double x1, double dt); double derivative(double current, double previous, double step);
double integral(double x2, double x1, double dt); double integral(double currentChange, double prevValue, double dt);
double limit(double value, double upr, double lwr); double limit(double value, double upr, double lwr);
// Any parameters that are constants should be declared here instead of // Any parameters that are constants should be declared here instead of
@ -334,6 +334,8 @@ void state2vec(Vehicle &State, Vehicle &PrevState, outVector &stateVector,
stateVector.PIDx[t] = State.PIDx; stateVector.PIDx[t] = State.PIDx;
stateVector.PIDy[t] = State.PIDy; stateVector.PIDy[t] = State.PIDy;
stateVector.thrust[t] = State.thrust;
// Set "prev" values for next timestep // Set "prev" values for next timestep
PrevState = State; PrevState = State;
} }
@ -354,40 +356,42 @@ void write2CSV(outVector &stateVector, Vehicle &State) {
// debugging // debugging
outfile << "t, x, y, z, vx, vy, vz, ax, ay, az, yaw, pitch, roll, yawdot, " outfile << "t, x, y, z, vx, vy, vz, ax, ay, az, yaw, pitch, roll, yawdot, "
"pitchdot, rolldot, Servo1, Servo2, thrustFiring, PIDx, PIDy, " "pitchdot, rolldot, Servo1, Servo2, thrustFiring, PIDx, PIDy, "
"thrust, deriv" "thrust"
<< std::endl; << std::endl;
// writing to output file // writing to output file
for (int t = 0; t < State.simTime; t += State.stepSize) { for (int t = 0; t < State.simTime; t += State.stepSize) {
outfile << t << ", "; outfile << t << ", ";
outfile << stateVector.x[t] << ", "; outfile << stateVector.x[t] << ",";
outfile << stateVector.y[t] << ", "; outfile << stateVector.y[t] << ",";
outfile << stateVector.z[t] << ", "; outfile << stateVector.z[t] << ",";
outfile << stateVector.vx[t] << ", "; outfile << stateVector.vx[t] << ",";
outfile << stateVector.vy[t] << ", "; outfile << stateVector.vy[t] << ",";
outfile << stateVector.vz[t] << ", "; outfile << stateVector.vz[t] << ",";
outfile << stateVector.ax[t] << ", "; outfile << stateVector.ax[t] << ",";
outfile << stateVector.ay[t] << ", "; outfile << stateVector.ay[t] << ",";
outfile << stateVector.az[t] << ", "; outfile << stateVector.az[t] << ",";
outfile << stateVector.yaw[t] * 180 / M_PI << ", "; outfile << stateVector.yaw[t] * 180 / M_PI << ",";
outfile << stateVector.pitch[t] * 180 / M_PI << ", "; outfile << stateVector.pitch[t] * 180 / M_PI << ",";
outfile << stateVector.roll[t] * 180 / M_PI << ", "; outfile << stateVector.roll[t] * 180 / M_PI << ",";
outfile << stateVector.yawdot[t] * 180 / M_PI << ", "; outfile << stateVector.yawdot[t] * 180 / M_PI << ",";
outfile << stateVector.pitchdot[t] * 180 / M_PI << ", "; outfile << stateVector.pitchdot[t] * 180 / M_PI << ",";
outfile << stateVector.rolldot[t] * 180 / M_PI << ", "; outfile << stateVector.rolldot[t] * 180 / M_PI << ",";
outfile << stateVector.servo1[t] << ", "; outfile << stateVector.servo1[t] << ",";
outfile << stateVector.servo2[t] << ", "; outfile << stateVector.servo2[t] << ",";
outfile << stateVector.thrustFiring[t] << ", "; outfile << stateVector.thrustFiring[t] << ",";
outfile << stateVector.PIDx[t] << ", "; outfile << stateVector.PIDx[t] << ",";
outfile << stateVector.PIDy[t] << std::endl; outfile << stateVector.PIDy[t] << ",";
outfile << stateVector.thrust[t] << std::endl;
} }
outfile.close(); outfile.close();