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changed up vehicle dynamics in accordance with simulink changes

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bpmcgeeney
2021-09-20 11:35:11 -07:00
parent 768bcb7964
commit 382566a8da
3 changed files with 15 additions and 9 deletions
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18
include/sim.h
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@@ -313,12 +313,18 @@ void vehicleDynamics(Vehicle &State, Vehicle &PrevState, int t) {
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);
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);