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Merge branch '5-relocate-initial-conditions' into 'main'

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Resolve "Relocate Initial Conditions"

Closes #5

See merge request lander-team/lander-cpp!1
This commit is contained in:
Anson Biggs 2021-09-16 01:17:58 +00:00
commit 78cd59dd11
8 changed files with 4526 additions and 4527 deletions
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include/sVars.h → include/Vehicle.h
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@ -3,33 +3,27 @@
#ifndef SVARS_H #ifndef SVARS_H
#define SVARS_H #define SVARS_H
struct sVars { struct Vehicle {
double x, y, z; double x, y, z;
double xPrev, yPrev, zPrev;
double vx, vy, vz; double vx, vy, vz;
double vxPrev, vyPrev, vzPrev;
double vxBody, vyBody, vzBody; double vxBody, vyBody, vzBody;
double ax, ay, az, axPrev, ayPrev, azPrev; double ax, ay, az;
double yaw, pitch, roll; double yaw, pitch, roll;
double phidot, thetadot, psidot; double phidot, thetadot, psidot;
double yawPrev, pitchPrev, rollPrev;
double yawdot, pitchdot, rolldot; double yawdot, pitchdot, rolldot;
double yawdotPrev, pitchdotPrev, rolldotPrev;
double yawddot, pitchddot, rollddot; double yawddot, pitchddot, rollddot;
double yawddotPrev, pitchddotPrev, rollddotPrev;
double mass, massInitial, massPropellant, massBurnout, mdot; double mass, massInitial, massPropellant, massBurnout, mdot;
double vehicleHeight, vehicleRadius, momentArm; double vehicleHeight, vehicleRadius, momentArm;
double burntime; double burntime;
double burnVelocity; double burnVelocity;
double thrust, thrust_prev, burnElapsed, burnStart; double thrust, burnElapsed, burnStart;
double LQRx, LQRy, Fx, Fy, Fz; double LQRx, LQRy, Fx, Fy, Fz;
double momentX, momentY, momentZ; double momentX, momentY, momentZ;
double I11, I22, I33; double I11, I22, I33;
double I11prev, I22prev, I33prev;
double I11dot, I22dot, I33dot; double I11dot, I22dot, I33dot;
int maxServo; int maxServo;

390
include/sim.h
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@ -1,11 +1,11 @@
#include "sVars.h" #include "Vehicle.h"
void burnStartTimeCalc(struct sVars &); void burnStartTimeCalc(struct Vehicle &);
void thrustSelection(struct sVars &, int t); void thrustSelection(struct Vehicle &, int t);
void lqrCalc(struct sVars &); void lqrCalc(struct Vehicle &);
void TVC(struct sVars &); void TVC(struct Vehicle &);
void vehicleDynamics(struct sVars &, int t); void vehicleDynamics(struct Vehicle &, struct Vehicle &, int t);
void write2CSV(struct sVars &, std::fstream &outfile, int t); void write2CSV(struct Vehicle &, std::fstream &outfile, int t);
double derivative(double x2, double x1, double dt); double derivative(double x2, double x1, double dt);
double integral(double x2, double x1, double dt); double integral(double x2, double x1, double dt);
@ -14,14 +14,14 @@ double integral(double x2, double x1, double dt);
double const dt = 0.001; double const dt = 0.001;
double const g = -9.81; double const g = -9.81;
void sim(struct sVars &Vars) { void sim(struct Vehicle &State, struct Vehicle &PrevState) {
// defining a few random values here cause I'm lazy // defining a few random values here cause I'm lazy
Vars.burnElapsed = 2000; State.burnElapsed = 2000;
Vars.mass = Vars.massInitial; State.mass = State.massInitial;
Vars.thrust_prev = 0; PrevState.thrust = 0;
burnStartTimeCalc(Vars); burnStartTimeCalc(State);
// Deleting any previous output file // Deleting any previous output file
if (remove("simOut.csv") != 0) if (remove("simOut.csv") != 0)
@ -43,26 +43,26 @@ void sim(struct sVars &Vars) {
<< std::endl; << std::endl;
// Start Sim // Start Sim
for (int t = 0; t < Vars.simTime; t++) { for (int t = 0; t < State.simTime; t++) {
thrustSelection(Vars, t); thrustSelection(State, t);
lqrCalc(Vars); lqrCalc(State);
TVC(Vars); TVC(State);
vehicleDynamics(Vars, t); vehicleDynamics(State, PrevState, t);
write2CSV(Vars, outfile, t); write2CSV(State, outfile, t);
} }
outfile.close(); outfile.close();
} }
void burnStartTimeCalc(struct sVars &Vars) { void burnStartTimeCalc(struct Vehicle &State) {
double velocity = Vars.vz; double velocity = State.vz;
double h = 0; double h = 0;
double a, j, mass, thrust; double a, j, mass, thrust;
// Piecewise functions for F15 thrust curve // Piecewise functions for F15 thrust curve
for (double i = 0.148; i < 3.450; i = i + dt) { for (double i = 0.148; i < 3.450; i = i + dt) {
mass = Vars.massInitial - i * Vars.mdot; mass = State.massInitial - i * State.mdot;
if ((i > 0.147) && (i < 0.420)) if ((i > 0.147) && (i < 0.420))
thrust = 65.165 * i - 2.3921; thrust = 65.165 * i - 2.3921;
@ -78,51 +78,53 @@ void burnStartTimeCalc(struct sVars &Vars) {
h = velocity * dt + h; h = velocity * dt + h;
} }
Vars.z = h + (pow(velocity, 2) / (2 * -g)); // starting height State.z = h + (pow(velocity, 2) / (2 * -g)); // starting height
Vars.burnVelocity = velocity; // terminal velocity State.burnVelocity = velocity; // terminal velocity
double burnStartTime = Vars.burnVelocity / -g; double burnStartTime = State.burnVelocity / -g;
Vars.simTime = (Vars.burntime + burnStartTime) * 1000; State.simTime = (State.burntime + burnStartTime) * 1000;
} }
void thrustSelection(struct sVars &Vars, int t) { void thrustSelection(struct Vehicle &State, int t) {
if (Vars.burnElapsed != 2000) { if (State.burnElapsed != 2000) {
// determine where in the thrust curve we're at based on elapsed burn time // determine where in the thrust curve we're at based on elapsed burn time
// as well as current mass // as well as current mass
Vars.burnElapsed = (t - Vars.burnStart) / 1000; State.burnElapsed = (t - State.burnStart) / 1000;
Vars.mass = Vars.massInitial - (Vars.mdot * Vars.burnElapsed); State.mass = State.massInitial - (State.mdot * State.burnElapsed);
} }
else if (abs(Vars.burnVelocity - Vars.vz) < .001) { else if (abs(State.burnVelocity - State.vz) < .001) {
// Start burn // Start burn
Vars.burnStart = t; State.burnStart = t;
Vars.burnElapsed = 0; State.burnElapsed = 0;
} }
else else
Vars.burnElapsed = 2000; // arbitrary number to ensure we don't burn State.burnElapsed = 2000; // arbitrary number to ensure we don't burn
if ((Vars.burnElapsed > 0.147) && (Vars.burnElapsed < 0.420)) if ((State.burnElapsed > 0.147) && (State.burnElapsed < 0.420))
Vars.thrust = 65.165 * Vars.burnElapsed - 2.3921; State.thrust = 65.165 * State.burnElapsed - 2.3921;
else if ((Vars.burnElapsed > 0.419) && (Vars.burnElapsed < 3.383)) else if ((State.burnElapsed > 0.419) && (State.burnElapsed < 3.383))
Vars.thrust = State.thrust = 0.8932 * pow(State.burnElapsed, 6) -
0.8932 * pow(Vars.burnElapsed, 6) - 11.609 * pow(Vars.burnElapsed, 5) + 11.609 * pow(State.burnElapsed, 5) +
60.739 * pow(Vars.burnElapsed, 4) - 162.99 * pow(Vars.burnElapsed, 3) + 60.739 * pow(State.burnElapsed, 4) -
235.6 * pow(Vars.burnElapsed, 2) - 174.43 * Vars.burnElapsed + 67.17; 162.99 * pow(State.burnElapsed, 3) +
235.6 * pow(State.burnElapsed, 2) -
174.43 * State.burnElapsed + 67.17;
else if ((Vars.burnElapsed > 3.382) && (Vars.burnElapsed < 3.46)) else if ((State.burnElapsed > 3.382) && (State.burnElapsed < 3.46))
Vars.thrust = -195.78 * Vars.burnElapsed + 675.11; State.thrust = -195.78 * State.burnElapsed + 675.11;
} }
void lqrCalc(struct sVars &Vars) { void lqrCalc(struct Vehicle &State) {
Vars.I11 = Vars.mass * ((1 / 12) * pow(Vars.vehicleHeight, 2) + State.I11 = State.mass * ((1 / 12) * pow(State.vehicleHeight, 2) +
pow(Vars.vehicleRadius, 2) / 4); pow(State.vehicleRadius, 2) / 4);
Vars.I22 = Vars.mass * ((1 / 12) * pow(Vars.vehicleHeight, 2) + State.I22 = State.mass * ((1 / 12) * pow(State.vehicleHeight, 2) +
pow(Vars.vehicleRadius, 2) / 4); pow(State.vehicleRadius, 2) / 4);
Vars.I33 = Vars.mass * 0.5 * pow(Vars.vehicleRadius, 2); State.I33 = State.mass * 0.5 * pow(State.vehicleRadius, 2);
// Paste in Values from gainCalc.m // Paste in Values from gainCalc.m
double K11 = 39.54316; double K11 = 39.54316;
@ -148,222 +150,224 @@ void lqrCalc(struct sVars &Vars) {
double gain = 0.25 * pow(10, -4); double gain = 0.25 * pow(10, -4);
// Matrix Multiply K with [YPR/2; w123] column vector and divide by moment arm // Matrix Multiply K with [YPR/2; w123] column vector and divide by moment arm
Vars.LQRx = State.LQRx =
gain * gain *
((K12 * Vars.pitch) / 2 + K15 * Vars.pitchdot + (K13 * Vars.roll) / 2 + ((K12 * State.pitch) / 2 + K15 * State.pitchdot + (K13 * State.roll) / 2 +
K16 * Vars.rolldot + (K11 * Vars.yaw) / 2 + K14 * Vars.yawdot) / K16 * State.rolldot + (K11 * State.yaw) / 2 + K14 * State.yawdot) /
-Vars.momentArm; -State.momentArm;
Vars.LQRy = State.LQRy =
gain * gain *
((K22 * Vars.pitch) / 2 + K25 * Vars.pitchdot + (K23 * Vars.roll) / 2 + ((K22 * State.pitch) / 2 + K25 * State.pitchdot + (K23 * State.roll) / 2 +
K26 * Vars.rolldot + (K21 * Vars.yaw) / 2 + K24 * Vars.yawdot) / K26 * State.rolldot + (K21 * State.yaw) / 2 + K24 * State.yawdot) /
-Vars.momentArm; -State.momentArm;
// LQR Force limiter X // LQR Force limiter X
if (Vars.LQRx > Vars.thrust) if (State.LQRx > State.thrust)
Vars.LQRx = Vars.thrust; State.LQRx = State.thrust;
else if (Vars.LQRx < -1 * Vars.thrust) else if (State.LQRx < -1 * State.thrust)
Vars.LQRx = -1 * Vars.thrust; State.LQRx = -1 * State.thrust;
// LQR Force limiter Y // LQR Force limiter Y
if (Vars.LQRy > Vars.thrust) if (State.LQRy > State.thrust)
Vars.LQRy = Vars.thrust; State.LQRy = State.thrust;
else if (Vars.LQRy < -1 * Vars.thrust) else if (State.LQRy < -1 * State.thrust)
Vars.LQRy = -1 * Vars.thrust; State.LQRy = -1 * State.thrust;
} }
void TVC(struct sVars &Vars) { void TVC(struct Vehicle &State) {
if (Vars.thrust < 1) { if (State.thrust < 1) {
// Define forces and moments for t = 0 // Define forces and moments for t = 0
Vars.Fx = 0; State.Fx = 0;
Vars.Fy = 0; State.Fy = 0;
Vars.Fz = g * Vars.massInitial; State.Fz = g * State.massInitial;
Vars.momentX = 0; State.momentX = 0;
Vars.momentY = 0; State.momentY = 0;
Vars.momentZ = 0; State.momentZ = 0;
} else { } else {
// Convert servo position to degrees for comparison to max allowable // Convert servo position to degrees for comparison to max allowable
Vars.xServoDegs = (180 / M_PI) * asin(Vars.LQRx / Vars.thrust); State.xServoDegs = (180 / M_PI) * asin(State.LQRx / State.thrust);
// Servo position limiter // Servo position limiter
if (Vars.xServoDegs > Vars.maxServo) if (State.xServoDegs > State.maxServo)
Vars.xServoDegs = Vars.maxServo; State.xServoDegs = State.maxServo;
else if (Vars.xServoDegs < -1 * Vars.maxServo) else if (State.xServoDegs < -1 * State.maxServo)
Vars.xServoDegs = -1 * Vars.maxServo; State.xServoDegs = -1 * State.maxServo;
// Convert servo position to degrees for comparison to max allowable // Convert servo position to degrees for comparison to max allowable
Vars.yServoDegs = (180 / M_PI) * asin(Vars.LQRy / Vars.thrust); State.yServoDegs = (180 / M_PI) * asin(State.LQRy / State.thrust);
// Servo position limiter // Servo position limiter
if (Vars.yServoDegs > Vars.maxServo) if (State.yServoDegs > State.maxServo)
Vars.yServoDegs = Vars.maxServo; State.yServoDegs = State.maxServo;
else if (Vars.yServoDegs < -1 * Vars.maxServo) else if (State.yServoDegs < -1 * State.maxServo)
Vars.yServoDegs = -1 * Vars.maxServo; State.yServoDegs = -1 * State.maxServo;
// Vector math to aqcuire thrust vector components // Vector math to aqcuire thrust vector components
Vars.Fx = Vars.thrust * sin(Vars.xServoDegs * (M_PI / 180)); State.Fx = State.thrust * sin(State.xServoDegs * (M_PI / 180));
Vars.Fy = Vars.thrust * sin(Vars.yServoDegs * (M_PI / 180)); State.Fy = State.thrust * sin(State.yServoDegs * (M_PI / 180));
Vars.Fz = sqrt(pow(Vars.thrust, 2) - (pow(Vars.Fx, 2) + pow(Vars.Fy, 2))) + State.Fz =
(Vars.mass * g); sqrt(pow(State.thrust, 2) - (pow(State.Fx, 2) + pow(State.Fy, 2))) +
(State.mass * g);
// Calculate moment created by Fx and Fy // Calculate moment created by Fx and Fy
Vars.momentX = Vars.Fx * Vars.momentArm; State.momentX = State.Fx * State.momentArm;
Vars.momentY = Vars.Fy * Vars.momentArm; State.momentY = State.Fy * State.momentArm;
Vars.momentZ = 0; State.momentZ = 0;
} }
} }
void vehicleDynamics(struct sVars &Vars, int t) { void vehicleDynamics(Vehicle &State, Vehicle &PrevState, int t) {
// Idot // Idot
if (t < 1) { if (t < 1) {
Vars.I11dot = 0; State.I11dot = 0;
Vars.I22dot = 0; State.I22dot = 0;
Vars.I33dot = 0; State.I33dot = 0;
} else { } else {
Vars.I11dot = derivative(Vars.I11, Vars.I11prev, Vars.stepSize); State.I11dot = derivative(State.I11, PrevState.I11, State.stepSize);
Vars.I22dot = derivative(Vars.I22, Vars.I22prev, Vars.stepSize); State.I22dot = derivative(State.I22, PrevState.I22, State.stepSize);
Vars.I33dot = derivative(Vars.I33, Vars.I33prev, Vars.stepSize); State.I33dot = derivative(State.I33, PrevState.I33, State.stepSize);
} }
// pdot, qdot, rdot // pdot, qdot, rdot
Vars.yawddot = (Vars.momentX - Vars.I11dot * Vars.yawdot + State.yawddot = (State.momentX - State.I11dot * State.yawdot +
Vars.I22 * Vars.pitchdot * Vars.rolldot - State.I22 * State.pitchdot * State.rolldot -
Vars.I33 * Vars.pitchdot * Vars.rolldot) / State.I33 * State.pitchdot * State.rolldot) /
Vars.I11; State.I11;
Vars.pitchddot = (Vars.momentY - Vars.I22dot * Vars.pitchdot - State.pitchddot = (State.momentY - State.I22dot * State.pitchdot -
Vars.I11 * Vars.rolldot * Vars.yawdot + State.I11 * State.rolldot * State.yawdot +
Vars.I33 * Vars.rolldot * Vars.yawdot) / State.I33 * State.rolldot * State.yawdot) /
Vars.I22; State.I22;
Vars.rollddot = (Vars.momentZ - Vars.I33dot * Vars.rolldot + State.rollddot = (State.momentZ - State.I33dot * State.rolldot +
Vars.I11 * Vars.pitchdot * Vars.yawdot - State.I11 * State.pitchdot * State.yawdot -
Vars.I22 * Vars.pitchdot * Vars.yawdot) / State.I22 * State.pitchdot * State.yawdot) /
Vars.I33; State.I33;
if (t < 1) { if (t < 1) {
Vars.x = 0; State.x = 0;
Vars.y = 0; State.y = 0;
Vars.ax = 0; State.ax = 0;
Vars.ay = 0; State.ay = 0;
Vars.az = Vars.Fz / Vars.massInitial; State.az = State.Fz / State.massInitial;
} }
else { else {
// p, q, r // p, q, r
Vars.yawdot = integral(Vars.yawddot, Vars.yawdotPrev, Vars.stepSize); State.yawdot = integral(State.yawddot, PrevState.yawdot, State.stepSize);
Vars.pitchdot = integral(Vars.pitchddot, Vars.pitchdotPrev, Vars.stepSize); State.pitchdot =
Vars.rolldot = integral(Vars.rollddot, Vars.rolldotPrev, Vars.stepSize); integral(State.pitchddot, PrevState.pitchdot, State.stepSize);
State.rolldot = integral(State.rollddot, PrevState.rolldot, State.stepSize);
// ax ay az // ax ay az
Vars.ax = (Vars.Fx / Vars.mass) + State.ax = (State.Fx / State.mass) +
(Vars.pitchdot * Vars.vz - Vars.rolldot * Vars.vy); (State.pitchdot * State.vz - State.rolldot * State.vy);
Vars.ay = (Vars.Fy / Vars.mass) + State.ay = (State.Fy / State.mass) +
(Vars.rolldot * Vars.vx - Vars.vz * Vars.yawdot); (State.rolldot * State.vx - State.vz * State.yawdot);
Vars.az = (Vars.Fz / Vars.mass) + State.az = (State.Fz / State.mass) +
(Vars.vy * Vars.yawdot - Vars.pitchdot * Vars.vx); (State.vy * State.yawdot - State.pitchdot * State.vx);
// vx vy vz in Body frame // vx vy vz in Body frame
Vars.vx = integral(Vars.ax, Vars.vxPrev, Vars.stepSize); State.vx = integral(State.ax, PrevState.vx, State.stepSize);
Vars.vy = integral(Vars.ay, Vars.vyPrev, Vars.stepSize); State.vy = integral(State.ay, PrevState.vy, State.stepSize);
Vars.vz = integral(Vars.az, Vars.vzPrev, Vars.stepSize); State.vz = integral(State.az, PrevState.vz, State.stepSize);
// Xe // Xe
Vars.x = integral(Vars.vx, Vars.xPrev, Vars.stepSize); State.x = integral(State.vx, PrevState.x, State.stepSize);
Vars.y = integral(Vars.vy, Vars.yPrev, Vars.stepSize); State.y = integral(State.vy, PrevState.y, State.stepSize);
Vars.z = integral(Vars.vz, Vars.zPrev, Vars.stepSize); State.z = integral(State.vz, PrevState.z, State.stepSize);
// Euler Angles // Euler Angles
Vars.phidot = Vars.yawdot + (Vars.pitchdot * sin(Vars.yaw) + State.phidot = State.yawdot + (State.pitchdot * sin(State.yaw) +
Vars.rolldot * cos(Vars.yaw)) * State.rolldot * cos(State.yaw)) *
(sin(Vars.pitch) / cos(Vars.pitch)); (sin(State.pitch) / cos(State.pitch));
Vars.thetadot = State.thetadot =
Vars.pitchdot * cos(Vars.yaw) - Vars.rolldot * sin(Vars.pitch); State.pitchdot * cos(State.yaw) - State.rolldot * sin(State.pitch);
Vars.psidot = State.psidot =
(Vars.pitchdot * sin(Vars.yaw) + Vars.rolldot * cos(Vars.yaw)) / (State.pitchdot * sin(State.yaw) + State.rolldot * cos(State.yaw)) /
cos(Vars.pitch); cos(State.pitch);
Vars.yaw = integral(Vars.phidot, Vars.yawPrev, Vars.stepSize); State.yaw = integral(State.phidot, PrevState.yaw, State.stepSize);
Vars.pitch = integral(Vars.thetadot, Vars.pitchPrev, Vars.stepSize); State.pitch = integral(State.thetadot, PrevState.pitch, State.stepSize);
Vars.roll = integral(Vars.psidot, Vars.rollPrev, Vars.stepSize); State.roll = integral(State.psidot, PrevState.roll, State.stepSize);
} }
// Set "prev" values for next timestep // Set "prev" values for next timestep
Vars.I11prev = Vars.I11; PrevState.I11 = State.I11;
Vars.I22prev = Vars.I22; PrevState.I22 = State.I22;
Vars.I33prev = Vars.I33; PrevState.I33 = State.I33;
Vars.yawPrev = Vars.yaw; PrevState.yaw = State.yaw;
Vars.pitchPrev = Vars.pitch; PrevState.pitch = State.pitch;
Vars.rollPrev = Vars.roll; PrevState.roll = State.roll;
Vars.yawdotPrev = Vars.yawdot; PrevState.yawdot = State.yawdot;
Vars.pitchdotPrev = Vars.pitchdot; PrevState.pitchdot = State.pitchdot;
Vars.rolldotPrev = Vars.rolldot; PrevState.rolldot = State.rolldot;
Vars.yawddotPrev = Vars.yawddot; PrevState.yawddot = State.yawddot;
Vars.pitchddotPrev = Vars.pitchddot; PrevState.pitchddot = State.pitchddot;
Vars.rollddotPrev = Vars.rollddot; PrevState.rollddot = State.rollddot;
Vars.axPrev = Vars.ax; PrevState.ax = State.ax;
Vars.ayPrev = Vars.ay; PrevState.ay = State.ay;
Vars.azPrev = Vars.az; PrevState.az = State.az;
Vars.vxPrev = Vars.vx; PrevState.vx = State.vx;
Vars.vyPrev = Vars.vy; PrevState.vy = State.vy;
Vars.vzPrev = Vars.vz; PrevState.vz = State.vz;
Vars.xPrev = Vars.x; PrevState.x = State.x;
Vars.yPrev = Vars.y; PrevState.y = State.y;
Vars.zPrev = Vars.z; PrevState.z = State.z;
} }
void write2CSV(struct sVars &Vars, std::fstream &outfile, int t) { void write2CSV(struct Vehicle &State, std::fstream &outfile, int t) {
// writing to output file // writing to output file
outfile << t << ", "; outfile << t << ", ";
outfile << Vars.x << ", "; outfile << State.x << ", ";
outfile << Vars.y << ", "; outfile << State.y << ", ";
outfile << Vars.z << ", "; outfile << State.z << ", ";
outfile << Vars.vx << ", "; outfile << State.vx << ", ";
outfile << Vars.vy << ", "; outfile << State.vy << ", ";
outfile << Vars.vz << ", "; outfile << State.vz << ", ";
outfile << Vars.ax << ", "; outfile << State.ax << ", ";
outfile << Vars.ay << ", "; outfile << State.ay << ", ";
outfile << Vars.az << ", "; outfile << State.az << ", ";
outfile << Vars.yaw * 180 / M_PI << ", "; outfile << State.yaw * 180 / M_PI << ", ";
outfile << Vars.pitch * 180 / M_PI << ", "; outfile << State.pitch * 180 / M_PI << ", ";
outfile << Vars.roll * 180 / M_PI << ", "; outfile << State.roll * 180 / M_PI << ", ";
outfile << Vars.yawdot * 180 / M_PI << ", "; outfile << State.yawdot * 180 / M_PI << ", ";
outfile << Vars.pitchdot * 180 / M_PI << ", "; outfile << State.pitchdot * 180 / M_PI << ", ";
outfile << Vars.rolldot * 180 / M_PI << ", "; outfile << State.rolldot * 180 / M_PI << ", ";
outfile << Vars.yawddot * 180 / M_PI << ", "; outfile << State.yawddot * 180 / M_PI << ", ";
outfile << Vars.pitchddot * 180 / M_PI << ", "; outfile << State.pitchddot * 180 / M_PI << ", ";
outfile << Vars.rollddot * 180 / M_PI << ", "; outfile << State.rollddot * 180 / M_PI << ", ";
outfile << Vars.I11 << ", "; outfile << State.I11 << ", ";
outfile << Vars.I22 << ", "; outfile << State.I22 << ", ";
outfile << Vars.I33 << ", "; outfile << State.I33 << ", ";
outfile << Vars.I11dot << ", "; outfile << State.I11dot << ", ";
outfile << Vars.I22dot << ", "; outfile << State.I22dot << ", ";
outfile << Vars.I33dot << ", "; outfile << State.I33dot << ", ";
outfile << Vars.xServoDegs << ", "; outfile << State.xServoDegs << ", ";
outfile << Vars.yServoDegs << ", "; outfile << State.yServoDegs << ", ";
outfile << Vars.mass << ", "; outfile << State.mass << ", ";
outfile << Vars.thrust << ", "; outfile << State.thrust << ", ";
outfile << Vars.burnElapsed << ", "; outfile << State.burnElapsed << ", ";
outfile << Vars.Fz << ", "; outfile << State.Fz << ", ";
outfile << Vars.LQRx << ", "; outfile << State.LQRx << ", ";
outfile << Vars.LQRy << std::endl; outfile << State.LQRy << std::endl;
} }
double derivative(double x2, double x1, double dt) { double derivative(double x2, double x1, double dt) {

47
src/main.cpp
View File

@ -5,48 +5,49 @@
#include <iostream> #include <iostream>
#include <stdio.h> #include <stdio.h>
#include "sVars.h" #include "Vehicle.h"
#include "sim.h" #include "sim.h"
void sim(struct sVars &); void sim(struct Vehicle &);
int main() { int main() {
sVars Vars; Vehicle State;
Vehicle PrevState;
// Initial Velocity // Initial Velocity
Vars.vx = 0; // [m/s] State.vx = 0; // [m/s]
Vars.vy = 0; // [m/s] State.vy = 0; // [m/s]
Vars.vz = 0; // [m/s] State.vz = 0; // [m/s]
// Initial YPR // Initial YPR
Vars.yaw = 0 * M_PI / 180; // [rad] State.yaw = 0 * M_PI / 180; // [rad]
Vars.pitch = 0 * M_PI / 180; // [rad] State.pitch = 0 * M_PI / 180; // [rad]
Vars.roll = 0 * M_PI / 180; // [rad] State.roll = 0 * M_PI / 180; // [rad]
// Initial YPRdot // Initial YPRdot
Vars.yawdot = 0 * M_PI / 180; // [rad/s] State.yawdot = 0 * M_PI / 180; // [rad/s]
Vars.pitchdot = 0 * M_PI / 180; // [rad/s] State.pitchdot = 0 * M_PI / 180; // [rad/s]
Vars.rolldot = 0 * M_PI / 180; // [rad/s] State.rolldot = 0 * M_PI / 180; // [rad/s]
// Servo Limitation // Servo Limitation
Vars.maxServo = 15; // [degs] State.maxServo = 15; // [degs]
// Vehicle Properties // Vehicle Properties
Vars.massInitial = 1.2; // [kg] State.massInitial = 1.2; // [kg]
Vars.vehicleHeight = 0.5318; // [m] State.vehicleHeight = 0.5318; // [m]
Vars.vehicleRadius = 0.05105; // [m] State.vehicleRadius = 0.05105; // [m]
Vars.momentArm = 0.145; // [m] State.momentArm = 0.145; // [m]
// Sim Step Size // Sim Step Size
Vars.stepSize = 1; // [ms] State.stepSize = 1; // [ms]
// Other Properties // Other Properties
Vars.massPropellant = 0.06; // [kg] State.massPropellant = 0.06; // [kg]
Vars.massBurnout = Vars.massInitial - Vars.massPropellant; // [kg] State.massBurnout = State.massInitial - State.massPropellant; // [kg]
Vars.burntime = 3.45 - 0.148; // [s] State.burntime = 3.45 - 0.148; // [s]
Vars.mdot = Vars.massPropellant / Vars.burntime; // [kg/s] State.mdot = State.massPropellant / State.burntime; // [kg/s]
sim(Vars); sim(State, PrevState);
std::cout << "Finished"; std::cout << "Finished";
std::cin.get(); std::cin.get();