Anson/Lander-Embedded
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bpmcgeeney
2021-09-11 17:18:12 -07:00
parent e2ef9a7232
commit 44d0db8bfd
13 changed files with 5129 additions and 0 deletions
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70
include/sVars.h Normal file
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#include <array>
#ifndef SVARS_H
#define SVARS_H
struct sVars
{
double x, y, z;
double xPrev, yPrev, zPrev;
double vx, vy, vz;
double vxPrev, vyPrev, vzPrev;
double vxBody, vyBody, vzBody;
double ax, ay, az, axPrev, ayPrev, azPrev;
double yaw, pitch, roll;
double phidot, thetadot, psidot;
double yawPrev, pitchPrev, rollPrev;
double yawdot, pitchdot, rolldot;
double yawdotPrev, pitchdotPrev, rolldotPrev;
double yawddot, pitchddot, rollddot;
double yawddotPrev, pitchddotPrev, rollddotPrev;
double m, m0, mp, mb, mdot;
double vehicleHeight, vehicleRadius;
double tb;
double vb;
double thrust, thrust_prev, burnElapsed, burnStart;
double LQRx, LQRy, Fx, Fy, Fz;
double momentX, momentY, momentZ;
double I11, I22, I33;
double I11prev, I22prev, I33prev;
double I11dot, I22dot, I33dot;
int maxServo;
double xServoDegs, yServoDegs;
double simTime;
int stepSize;
std::array<std::array<double, 2>, 26> thrustCurve = { { {0.148, 7.638},
{0.228, 12.253},
{0.294, 16.391},
{0.353, 20.210},
{0.382, 22.756},
{0.419, 25.260},
{0.477, 23.074},
{0.520, 20.845},
{0.593, 19.093},
{0.688, 17.500},
{0.855, 16.225},
{1.037, 15.427},
{1.205, 14.948},
{1.423, 14.627},
{1.452, 15.741},
{1.503, 14.785},
{1.736, 14.623},
{1.955, 14.303},
{2.210, 14.141},
{2.494, 13.819},
{2.763, 13.338},
{3.120, 13.334},
{3.382, 13.013},
{3.404, 9.352},
{3.418, 4.895},
{3.450, 0.000}} };
};
#endif

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include/sim.h Normal file
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#include "sVars.h"
void burnStartTimeCalc(struct sVars&, double g);
void thrustSelection(struct sVars&, int t);
void lqrCalc(struct sVars&);
void TVC(struct sVars&, double g);
void vehicleDynamics(struct sVars&, int t);
void write2CSV(struct sVars&, std::fstream& outfile, int t);
double derivative(double x2, double x1, double dt);
double integral(double x2, double x1, double dt);