Anson/Lander-Embedded
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Changed pass condition

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This commit is contained in:
bpmcgeeney 2021-10-20 13:49:48 -07:00
parent 30cef521c0
commit c62a8b0c44
1 changed files with 20 additions and 10 deletions
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30
include/sim.h
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@ -16,7 +16,7 @@ double limit(double value, double upr, double lwr);
// Any parameters that are constants should be declared here instead of // Any parameters that are constants should be declared here instead of
// buried in code // buried in code
double const dt = 0.01; double const dt = 0.001;
double const g = -9.81; double const g = -9.81;
bool sim(struct Vehicle &State, struct Vehicle &PrevState) { bool sim(struct Vehicle &State, struct Vehicle &PrevState) {
@ -35,13 +35,11 @@ bool sim(struct Vehicle &State, struct Vehicle &PrevState) {
pidController(State, PrevState); pidController(State, PrevState);
TVC(State, PrevState); TVC(State, PrevState);
state2vec(State, PrevState, stateVector, t); state2vec(State, PrevState, stateVector, t);
//std::cout << State.vz << "\n";
t += State.stepSize; t += State.stepSize;
} while ((State.z > 0.0)); } while ((State.z > 0.0));
std::cout << t << "\n";
write2CSV(stateVector, State, t); write2CSV(stateVector, State, t);
std::cout << t << "\n";
bool pass = 1; bool pass = 1;
@ -60,10 +58,10 @@ std::cout << t << "\n";
std::cout << "Final Angles: [" << State.yaw << ", " << State.pitch << "]" std::cout << "Final Angles: [" << State.yaw << ", " << State.pitch << "]"
<< std::endl; << std::endl;
if (landing_velocity < 5.0) { if (landing_velocity < 0.5) {
std::cout << "Landing Velocity < 5 m/s | PASS | "; std::cout << "Landing Velocity < 0.5 m/s | PASS | ";
} else { } else {
std::cout << "Landing Velocity < 5 m/s | FAIL | "; std::cout << "Landing Velocity < 0.5 m/s | FAIL | ";
pass = pass * 0; pass = pass * 0;
} }
std::cout << "Final Velocity: [" << State.vx << ", " << State.vy << ", " std::cout << "Final Velocity: [" << State.vx << ", " << State.vy << ", "
@ -76,7 +74,7 @@ void burnStartTimeCalc(Vehicle &State) {
double velocity = State.vz; double velocity = State.vz;
double h = 0; double h = 0;
double mass, thrust; double mass, thrust, acceleration;
// 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) {
@ -92,11 +90,14 @@ void burnStartTimeCalc(Vehicle &State) {
else if ((i > 3.382) && (i < 3.46)) else if ((i > 3.382) && (i < 3.46))
thrust = -195.78 * i + 675.11; thrust = -195.78 * i + 675.11;
velocity = (((thrust / mass) + g) * dt) + velocity; acceleration = (thrust / mass) + g;
h = (((thrust / mass) + g) * dt) + h; velocity = integral(acceleration, velocity, State.stepSize);
h = integral(velocity, h, State.stepSize);
} }
State.z = h + (pow(velocity, 2) / (2 * -g)); // starting height State.z = h + (pow(velocity, 2) / (2 * -g)); // starting height
State.burnVelocity = velocity; // terminal velocity State.burnVelocity = velocity; // terminal velocity
std::cout << State.z << std::endl;
double burnStartTime = State.burnVelocity / -g; double burnStartTime = State.burnVelocity / -g;
State.simTime = (State.burntime + burnStartTime) * 1000; State.simTime = (State.burntime + burnStartTime) * 1000;
@ -172,6 +173,15 @@ void vehicleDynamics(Vehicle &State, Vehicle &PrevState, int t) {
State.vx = integral(State.ax, PrevState.vx, State.stepSize); State.vx = integral(State.ax, PrevState.vx, State.stepSize);
State.vy = integral(State.ay, PrevState.vy, State.stepSize); State.vy = integral(State.ay, PrevState.vy, State.stepSize);
State.vz = integral(State.az, PrevState.vz, State.stepSize); State.vz = integral(State.az, PrevState.vz, State.stepSize);
/*
// Xe
State.x = 0.5 * State.ax * pow(State.stepSize, 2) +
State.vx * State.stepSize + PrevState.x;
State.y = 0.5 * State.ay * pow(State.stepSize, 2) +
State.vy * State.stepSize + PrevState.y;
State.z = 0.5 * State.az * pow(State.stepSize, 2) +
State.vz * State.stepSize + PrevState.z;
*/
// Xe // Xe
State.x = integral(State.vx, PrevState.x, State.stepSize); State.x = integral(State.vx, PrevState.x, State.stepSize);