Anson/Lander-Embedded
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Merge branch 'op_dem' of gitlab.com:lander-team/lander-cpp into op_dem

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Anson Biggs 2021-11-22 13:37:57 -07:00
commit 3a2773891f
1 changed files with 4 additions and 4 deletions
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include/teensy.h
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@ -214,12 +214,12 @@ void thrustInfo(Vehicle &State) {
double R = 5.0; double R = 5.0;
// Vector math to aqcuire thrust vector components // Vector math to aqcuire thrust vector components
State.thrust = State.lc0_processed + State.lc1_processed + State.Fz = State.lc0_processed + State.lc1_processed + State.lc2_processed +
State.lc2_processed + State.lc3_processed; State.lc3_processed;
State.Fx = (State.lc1_processed - State.lc2_processed) * r / R; State.Fx = (State.lc1_processed - State.lc2_processed) * r / R;
State.Fy = (State.lc0_processed - State.lc3_processed) * r / R; State.Fy = (State.lc0_processed - State.lc3_processed) * r / R;
State.Fz = State.thrust =
sqrt(pow(State.thrust, 2) - pow(State.Fx, 2) - pow(State.Fy, 2)) + sqrt(pow(State.Fz, 2) + pow(State.Fx, 2) + pow(State.Fy, 2)) +
(State.mass * g); (State.mass * g);
} else { } else {