Anson/Lander-Embedded
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Servo rate limiting implemented with a new limit function

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bpmcgeeney
2021-10-15 12:44:37 -07:00
parent 59345992db
commit b0a94c663d
3 changed files with 49 additions and 33 deletions
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10
src/main.cpp
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@@ -28,9 +28,10 @@ int main() {
State.vz = 0; // [m/s]
// Initial YPR
State.yaw = 75 * M_PI / 180; // [rad]
State.pitch = 35 * M_PI / 180; // [rad]
State.roll = 0 * M_PI / 180; // [rad]
State.yaw = 75 * M_PI / 180; // [rad]
State.pitch = 30 * M_PI / 180; // [rad]
State.roll = 0 * M_PI / 180; // [rad]
// Initial YPRdot
State.yawdot = 1 * M_PI / 180; // [rad/s]
@@ -38,7 +39,8 @@ int main() {
State.rolldot = 0 * M_PI / 180; // [rad/s]
// Servo Limitation
State.maxServo = 15; // [degs]
State.maxServo = 7; // [degs]
State.maxServoRate = 360; // [degs/sec]
// Vehicle Properties
State.massInitial = 1.2; // [kg]