mirror of
https://gitlab.com/lander-team/lander-cpp.git
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Merge branch '27-fix-simulation-on-teensy' into 'main'
Resolve "Fix SImulation on Teensy" Closes #27 See merge request lander-team/lander-cpp!23
This commit is contained in:
Brendan McGeeney
commit
8ec17dd820
@ -20,7 +20,7 @@ struct Vehicle {
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double burntime;
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double burnVelocity;
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double thrust, burnElapsed, burnStart;
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bool thrustFiring = false;
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int thrustFiring = 0; // 0: Pre-burn, 1: Mid-burn, 2: Post-burn
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double PIDx, PIDy, Fx, Fy, Fz;
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double momentX, momentY, momentZ;
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@ -28,47 +28,47 @@ struct Vehicle {
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double I11, I22, I33;
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double I11dot, I22dot, I33dot;
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int maxServo;
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int maxServoRate;
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double maxServo;
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double maxServoRate;
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double xServoDegs, yServoDegs;
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double xServoDegsDot, yServoDegsDot;
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double Kp, Ki, Kd;
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double yError, yPrevError;
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double pError, pPrevError;
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double i_yError, i_pError = 0;
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double i_yError, i_pError = 0.0;
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double d_yError, d_pError;
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double simTime;
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int stepSize;
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double stepSize;
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int time = 0;
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double time = 0.0;
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};
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void init_Vehicle(Vehicle &State) {
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// PID Gains
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State.Kp = -6.8699;
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State.Ki = 0;
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State.Ki = 0.0;
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State.Kd = -0.775;
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// Initial Velocity
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State.vx = 0; // [m/s]
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State.vy = 0; // [m/s]
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State.vz = 0; // [m/s]
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State.vx = 0.0; // [m/s]
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State.vy = 0.0; // [m/s]
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State.vz = 0.0; // [m/s]
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// Initial YPR
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State.yaw = 45 * M_PI / 180; // [rad]
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State.pitch = 45 * M_PI / 180; // [rad]
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State.roll = 0 * M_PI / 180; // [rad]
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State.yaw = 45.0 * M_PI / 180.0; // [rad]
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State.pitch = 45.0 * M_PI / 180.0; // [rad]
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State.roll = 0.0 * M_PI / 180.0; // [rad]
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// Initial YPRdot
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State.yawdot = 1 * M_PI / 180; // [rad/s]
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State.pitchdot = -1 * M_PI / 180; // [rad/s]
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State.rolldot = 0 * M_PI / 180; // [rad/s]
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State.yawdot = 1.0 * M_PI / 180.0; // [rad/s]
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State.pitchdot = -1.0 * M_PI / 180.0; // [rad/s]
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State.rolldot = 0.0 * M_PI / 180.0; // [rad/s]
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// Servo Limitation
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State.maxServo = 7; // [degs]
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State.maxServoRate = 360; // [degs/sec]
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State.maxServo = 7.0; // [degs]
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State.maxServoRate = 360.0; // [degs/sec]
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// Vehicle Properties
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State.massInitial = 1.2; // [kg]
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@ -77,7 +77,7 @@ void init_Vehicle(Vehicle &State) {
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State.momentArm = 0.145; // [m]
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// Sim Step Size
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State.stepSize = 1; // [ms]
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State.stepSize = 1.0; // [ms]
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// Other Properties
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State.massPropellant = 0.06; // [kg]
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@ -8,41 +8,23 @@ void write2CSV(struct outVector &, struct Vehicle &);
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void printSimResults(struct Vehicle &);
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void thrustInfo(Vehicle &State) {
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if (State.burnElapsed != 2000) {
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// determine where in the thrust curve we're at based on elapsed burn time
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// as well as current mass
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State.burnElapsed = (State.time - State.burnStart) / 1000;
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State.mass = State.massInitial - (State.mdot * State.burnElapsed);
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}
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else if (abs(State.burnVelocity + State.vz) < 0.001) {
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if ((std::abs(State.burnVelocity + State.vz) < 1.03) &&
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(State.thrustFiring == 0)) {
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// Start burn
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State.burnStart = State.time;
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State.burnElapsed = 0;
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}
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State.burnElapsed = 0.0;
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State.thrustFiring = 1;
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else
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State.burnElapsed = 2000; // arbitrary number to ensure we don't burn
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getThrust(State);
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if ((State.burnElapsed > 0.147) && (State.burnElapsed < 0.420)) {
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State.thrustFiring = true;
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State.thrust = 65.165 * State.burnElapsed - 2.3921;
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} else if (State.thrustFiring == 1) {
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State.burnElapsed = (State.time - State.burnStart) / 1000.0;
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State.mass = State.massInitial - (State.mdot * State.burnElapsed);
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} else if ((State.burnElapsed > 0.419) && (State.burnElapsed < 3.383))
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State.thrust = 0.8932 * pow(State.burnElapsed, 6) -
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11.609 * pow(State.burnElapsed, 5) +
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60.739 * pow(State.burnElapsed, 4) -
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162.99 * pow(State.burnElapsed, 3) +
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235.6 * pow(State.burnElapsed, 2) -
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174.43 * State.burnElapsed + 67.17;
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getThrust(State);
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else if ((State.burnElapsed > 3.382) && (State.burnElapsed < 3.46))
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State.thrust = -195.78 * State.burnElapsed - 675.11;
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if (State.burnElapsed > 3.45) {
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State.thrustFiring = false;
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State.thrust = 0;
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} else {
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State.thrust = 0.0;
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}
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}
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@ -11,6 +11,7 @@ void state2vec(struct Vehicle &, struct Vehicle &, struct outVector &);
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double derivative(double current, double previous, double step);
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double integral(double currentChange, double prevValue, double dt);
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double limit(double value, double upr, double lwr);
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void getThrust(struct Vehicle &);
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// Any parameters that are constants should be declared here instead of
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// buried in code
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@ -19,7 +20,7 @@ double const g = -9.81;
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void burnStartTimeCalc(Vehicle &State) {
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double velocity = State.vz;
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double h = 0;
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double h = 0.0;
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double mass, thrust;
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@ -37,39 +38,39 @@ void burnStartTimeCalc(Vehicle &State) {
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else if ((i > 3.382) && (i < 3.46))
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thrust = -195.78 * i + 675.11;
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else
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thrust = 0;
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thrust = 0.0;
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velocity = (((thrust / mass) + g) * dt) + velocity;
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h = (((thrust / mass) + g) * dt) + h;
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}
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State.z = h + (pow(velocity, 2) / (2 * -g)); // starting height
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State.z = 18.9;
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State.z = h + (pow(velocity, 2) / (2.0 * -g)); // starting height
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State.z = 19.05;
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State.burnVelocity = velocity; // terminal velocity
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double burnStartTime = State.burnVelocity / -g;
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State.simTime = (State.burntime + burnStartTime) * 1000;
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State.simTime = (State.burntime + burnStartTime) * 1000.0;
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}
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void vehicleDynamics(Vehicle &State, Vehicle &PrevState) {
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// Moment of Inertia
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State.I11 = State.mass * ((1 / 12) * pow(State.vehicleHeight, 2) +
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pow(State.vehicleRadius, 2) / 4);
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State.I22 = State.mass * ((1 / 12) * pow(State.vehicleHeight, 2) +
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pow(State.vehicleRadius, 2) / 4);
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State.I11 = State.mass * ((1 / 12.0) * pow(State.vehicleHeight, 2) +
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pow(State.vehicleRadius, 2) / 4.0);
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State.I22 = State.mass * ((1 / 12.0) * pow(State.vehicleHeight, 2) +
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pow(State.vehicleRadius, 2) / 4.0);
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State.I33 = State.mass * 0.5 * pow(State.vehicleRadius, 2);
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// Idot
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if (State.time < 0.1) {
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State.I11dot = 0;
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State.I22dot = 0;
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State.I33dot = 0;
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State.I11dot = 0.0;
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State.I22dot = 0.0;
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State.I33dot = 0.0;
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State.x = 0;
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State.y = 0;
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State.x = 0.0;
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State.y = 0.0;
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State.ax = 0;
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State.ay = 0;
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State.ax = 0.0;
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State.ay = 0.0;
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State.az = State.Fz / State.massInitial;
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} else {
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@ -145,7 +146,6 @@ void pidController(Vehicle &State, struct Vehicle &PrevState) {
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State.d_pError = derivative(State.pError, PrevState.pError, State.stepSize);
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// TVC block properly
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State.PIDx = (State.Kp * State.yError + State.Ki * State.i_yError +
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State.Kd * State.d_yError) /
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State.momentArm;
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@ -154,8 +154,8 @@ void pidController(Vehicle &State, struct Vehicle &PrevState) {
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State.momentArm;
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} else {
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State.PIDx = 0;
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State.PIDy = 0;
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State.PIDx = 0.0;
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State.PIDy = 0.0;
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}
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// PID Force Limiter
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@ -166,18 +166,18 @@ void pidController(Vehicle &State, struct Vehicle &PrevState) {
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void TVC(Vehicle &State, Vehicle &PrevState) {
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if (State.thrust < 0.1) {
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// Define forces and moments for t = 0
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State.Fx = 0;
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State.Fy = 0;
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State.Fx = 0.0;
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State.Fy = 0.0;
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State.Fz = g * State.massInitial;
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State.momentX = 0;
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State.momentY = 0;
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State.momentZ = 0;
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State.momentX = 0.0;
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State.momentY = 0.0;
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State.momentZ = 0.0;
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} else {
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// Convert servo position to degrees for comparison to max allowable
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State.xServoDegs = (180 / M_PI) * asin(State.PIDx / State.thrust);
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State.yServoDegs = (180 / M_PI) * asin(State.PIDy / State.thrust);
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State.xServoDegs = (180.0 / M_PI) * asin(State.PIDx / State.thrust);
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State.yServoDegs = (180.0 / M_PI) * asin(State.PIDy / State.thrust);
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// Limit Servo Position
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State.xServoDegs = limit(State.xServoDegs, State.maxServo, -State.maxServo);
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@ -238,12 +238,12 @@ void state2vec(Vehicle &State, Vehicle &PrevState, outVector &stateVector) {
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}
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double derivative(double current, double previous, double step) {
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double dxdt = (current - previous) / (step / 1000);
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double dxdt = (current - previous) / (step / 1000.0);
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return dxdt;
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}
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double integral(double currentChange, double prevValue, double dt) {
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return (currentChange * dt / 1000) + prevValue;
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return (currentChange * dt / 1000.0) + prevValue;
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}
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double limit(double value, double upr, double lwr) {
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@ -256,3 +256,25 @@ double limit(double value, double upr, double lwr) {
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return value;
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}
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void getThrust(Vehicle &State) {
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if ((State.burnElapsed > 0.147) && (State.burnElapsed < 0.420)) {
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State.thrust = 65.165 * State.burnElapsed - 2.3921;
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} else if ((State.burnElapsed > 0.419) && (State.burnElapsed < 3.383))
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State.thrust = 0.8932 * pow(State.burnElapsed, 6.0) -
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11.609 * pow(State.burnElapsed, 5.0) +
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60.739 * pow(State.burnElapsed, 4.0) -
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162.99 * pow(State.burnElapsed, 3.0) +
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235.6 * pow(State.burnElapsed, 2.0) -
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174.43 * State.burnElapsed + 67.17;
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else if ((State.burnElapsed > 3.382) && (State.burnElapsed < 3.46)) {
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State.thrust = -195.78 * State.burnElapsed + 675.11;
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}
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if (State.burnElapsed > 3.45) {
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State.thrustFiring = 2;
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State.thrust = 0.0;
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}
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}
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108
include/teensy.h
108
include/teensy.h
@ -17,11 +17,11 @@ File dataFile;
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double loadCellCalibrate() {
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// place code to calibrate load cells in here
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double loadTotal;
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for (double t = 0; t == 10; ++t) {
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loadTotal += 1;
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for (double t = 0.0; t == 10.0; ++t) {
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loadTotal += 1.0;
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delay(15);
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}
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return loadTotal / 10;
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return loadTotal / 10.0;
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}
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void initFile() {
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@ -35,11 +35,10 @@ void initFile() {
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Serial.println("Card initialized.");
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int i = 1;
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Serial.print("simOut_" + String(i) + ".csv");
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const char *fileName;
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if (SD.exists("simOut.csv")) {
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while (i > 0) {
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while (i > 0.0) {
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fileName = ("simOut_" + String(i) + ".csv").c_str();
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if (!SD.exists(fileName)) {
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@ -54,7 +53,7 @@ void initFile() {
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Serial.println("Error opening output file. \n\nABORTING SIMULATION");
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teensyAbort();
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}
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i = 0;
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i = 0.0;
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} else {
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i++;
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@ -84,120 +83,103 @@ void thrustInfo(Vehicle &State) {
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Serial.println("WARNING: thrustInfo not implemented for TEENSY");
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}
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if (State.burnElapsed != 2000) {
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// determine where in the thrust curve we're at based on elapsed burn time
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// as well as current mass
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State.burnElapsed = (State.time - State.burnStart) / 1000;
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State.mass = State.massInitial - (State.mdot * State.burnElapsed);
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}
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else if (abs(State.burnVelocity + State.vz) < 0.001) {
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if ((abs(State.burnVelocity + State.vz) < 1.03) &&
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(State.thrustFiring == 0)) {
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// Start burn
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State.burnStart = State.time;
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State.burnElapsed = 0;
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}
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State.burnElapsed = 0.0;
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State.thrustFiring = 1;
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else
|
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State.burnElapsed = 2000; // arbitrary number to ensure we don't burn
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getThrust(State);
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|
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if ((State.burnElapsed > 0.147) && (State.burnElapsed < 0.420)) {
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State.thrustFiring = true;
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State.thrust = 65.165 * State.burnElapsed - 2.3921;
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} else if (State.thrustFiring == 1) {
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State.burnElapsed = (State.time - State.burnStart) / 1000.0;
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State.mass = State.massInitial - (State.mdot * State.burnElapsed);
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} else if ((State.burnElapsed > 0.419) && (State.burnElapsed < 3.383))
|
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State.thrust = 0.8932 * pow(State.burnElapsed, 6) -
|
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11.609 * pow(State.burnElapsed, 5) +
|
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60.739 * pow(State.burnElapsed, 4) -
|
||||
162.99 * pow(State.burnElapsed, 3) +
|
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235.6 * pow(State.burnElapsed, 2) -
|
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174.43 * State.burnElapsed + 67.17;
|
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getThrust(State);
|
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|
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else if ((State.burnElapsed > 3.382) && (State.burnElapsed < 3.46))
|
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State.thrust = -195.78 * State.burnElapsed - 675.11;
|
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|
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if (State.burnElapsed > 3.45) {
|
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State.thrustFiring = false;
|
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State.thrust = 0;
|
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} else {
|
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State.thrust = 0.0;
|
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}
|
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}
|
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|
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void processTVC(Vehicle &State) {
|
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if (State.time == 0) {
|
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if (State.time == 0.0) {
|
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Serial.println("WARNING: processTVC not implemented for TEENSY");
|
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}
|
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|
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// Vector math to aqcuire thrust vector components
|
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State.Fx = State.thrust * sin(State.xServoDegs * (M_PI / 180));
|
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State.Fy = State.thrust * sin(State.yServoDegs * (M_PI / 180));
|
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State.Fx = State.thrust * sin(State.xServoDegs * (M_PI / 180.0));
|
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State.Fy = State.thrust * sin(State.yServoDegs * (M_PI / 180.0));
|
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State.Fz = sqrt(pow(State.thrust, 2) - pow(State.Fx, 2) - pow(State.Fy, 2)) +
|
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(State.mass * g);
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|
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// Calculate moment created by Fx and Fy
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State.momentX = State.Fx * State.momentArm;
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State.momentY = State.Fy * State.momentArm;
|
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State.momentZ = 0;
|
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State.momentZ = 0.0;
|
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}
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|
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void write2CSV(Vehicle &State) {
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dataFile.print(State.time);
|
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dataFile.print(String(State.time, 5));
|
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dataFile.print(",");
|
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|
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dataFile.print(State.x);
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dataFile.print(String(State.x, 5));
|
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dataFile.print(",");
|
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dataFile.print(State.y);
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dataFile.print(String(State.y, 5));
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dataFile.print(",");
|
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dataFile.print(State.z);
|
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dataFile.print(String(State.z, 5));
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dataFile.print(",");
|
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|
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dataFile.print(State.vx);
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dataFile.print(String(State.vx, 5));
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dataFile.print(",");
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dataFile.print(State.vy);
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dataFile.print(String(State.vy, 5));
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dataFile.print(",");
|
||||
dataFile.print(State.vz);
|
||||
dataFile.print(String(State.vz, 5));
|
||||
dataFile.print(",");
|
||||
|
||||
dataFile.print(State.ax);
|
||||
dataFile.print(String(State.ax, 5));
|
||||
dataFile.print(",");
|
||||
dataFile.print(State.ay);
|
||||
dataFile.print(String(State.ay, 5));
|
||||
dataFile.print(",");
|
||||
dataFile.print(State.az);
|
||||
dataFile.print(String(State.az, 5));
|
||||
dataFile.print(",");
|
||||
|
||||
dataFile.print(State.yaw * 180 / M_PI);
|
||||
dataFile.print(String(State.yaw * 180.0 / M_PI, 5));
|
||||
dataFile.print(",");
|
||||
dataFile.print(State.pitch * 180 / M_PI);
|
||||
dataFile.print(String(State.pitch * 180.0 / M_PI, 5));
|
||||
dataFile.print(",");
|
||||
dataFile.print(State.roll * 180 / M_PI);
|
||||
dataFile.print(String(State.roll * 180.0 / M_PI, 5));
|
||||
dataFile.print(",");
|
||||
|
||||
dataFile.print(State.yawdot * 180 / M_PI);
|
||||
dataFile.print(String(State.yawdot * 180.0 / M_PI, 5));
|
||||
dataFile.print(",");
|
||||
dataFile.print(State.pitchdot * 180 / M_PI);
|
||||
dataFile.print(String(State.pitchdot * 180.0 / M_PI, 5));
|
||||
dataFile.print(",");
|
||||
dataFile.print(State.rolldot * 180 / M_PI);
|
||||
dataFile.print(String(State.rolldot * 180.0 / M_PI, 5));
|
||||
dataFile.print(",");
|
||||
|
||||
dataFile.print(State.xServoDegs);
|
||||
dataFile.print(String(State.xServoDegs, 5));
|
||||
dataFile.print(",");
|
||||
dataFile.print(State.yServoDegs);
|
||||
dataFile.print(String(State.yServoDegs, 5));
|
||||
dataFile.print(",");
|
||||
|
||||
dataFile.print(State.thrustFiring);
|
||||
dataFile.print(String(State.thrustFiring, 5));
|
||||
dataFile.print(",");
|
||||
|
||||
dataFile.print(State.PIDx);
|
||||
dataFile.print(String(State.PIDx, 5));
|
||||
dataFile.print(",");
|
||||
dataFile.print(State.PIDy);
|
||||
dataFile.print(String(State.PIDy, 5));
|
||||
dataFile.print(",");
|
||||
|
||||
dataFile.print(State.thrust);
|
||||
dataFile.print(String(State.thrust, 5));
|
||||
dataFile.print("\n");
|
||||
}
|
||||
|
||||
void printSimResults(Vehicle &State) {
|
||||
State.yaw = State.yaw * 180 / M_PI;
|
||||
State.pitch = State.pitch * 180 / M_PI;
|
||||
State.roll = State.roll * 180 / M_PI;
|
||||
State.yaw = State.yaw * 180.0 / M_PI;
|
||||
State.pitch = State.pitch * 180.0 / M_PI;
|
||||
State.roll = State.roll * 180.0 / M_PI;
|
||||
|
||||
double landing_angle =
|
||||
pow(State.yaw * State.yaw + State.pitch * State.pitch, .5);
|
||||
|
||||
@ -30,6 +30,7 @@ Servo2 = T(:, 18);
|
||||
PIDx = T(:, 20);
|
||||
PIDy = T(:, 21);
|
||||
|
||||
thrust = T(:, 22);
|
||||
% Acceleration
|
||||
subplot(3, 1, 1)
|
||||
plot(t, az)
|
||||
@ -91,3 +92,12 @@ plot(t, Servo2)
|
||||
title('Servo 2 Position vs Time')
|
||||
xlabel('Time (ms)')
|
||||
ylabel('Servo 2 Position (rad)')
|
||||
|
||||
figure(4)
|
||||
|
||||
% Servo 1 Position
|
||||
|
||||
plot(t, thrust)
|
||||
title('Thrust vs Time')
|
||||
xlabel('Time (ms)')
|
||||
ylabel('Thrust (N)')
|
||||
|
||||
12
src/main.cpp
12
src/main.cpp
@ -37,9 +37,7 @@ void setup() {
|
||||
}
|
||||
#elif defined(TEENSY)
|
||||
void setup() {
|
||||
pinMode(BUILTIN_LED, OUTPUT);
|
||||
digitalWrite(BUILTIN_LED, HIGH);
|
||||
delay(1000);
|
||||
delay(5000);
|
||||
init_Vehicle(State);
|
||||
Serial.println("Simulated Vehicle Initalized");
|
||||
delay(1000);
|
||||
@ -67,10 +65,9 @@ void loop() {
|
||||
|
||||
// Set "prev" values for next timestep
|
||||
PrevState = State;
|
||||
|
||||
State.time += State.stepSize;
|
||||
|
||||
if (State.z < 0.0) {
|
||||
if ((State.z < 0.0) && (State.thrustFiring == 2)) {
|
||||
write2CSV(stateVector, State);
|
||||
printSimResults(State);
|
||||
init_Vehicle(State);
|
||||
@ -92,11 +89,12 @@ void loop() {
|
||||
|
||||
State.time += State.stepSize;
|
||||
|
||||
if (State.z < 0.0) {
|
||||
if ((State.z < 0.0) && (State.thrustFiring == 2)) {
|
||||
printSimResults(State);
|
||||
Serial.println("Run duration:" + String(millis() - last) + " ms");
|
||||
|
||||
closeFile();
|
||||
delay(20000);
|
||||
|
||||
Serial.println("SUCCESS");
|
||||
Serial.println("Aborting Sim");
|
||||
@ -112,7 +110,7 @@ int main() {
|
||||
|
||||
do {
|
||||
loop();
|
||||
} while ((State.z > 0.0));
|
||||
} while ((State.z > 0.0) || (State.thrustFiring != 2));
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user