Merge branch '4-correct-ending-conditions' into 'main'

Resolve "Correct Ending Conditions"

Closes #4

See merge request lander-team/lander-cpp!2

.vscode/settings.json

@@ -1,6 +1,44 @@
 {
     "files.associations": {
-        "iostream": "cpp"
+        "iostream": "cpp",
+        "algorithm": "cpp",
+        "array": "cpp",
+        "cmath": "cpp",
+        "concepts": "cpp",
+        "cstddef": "cpp",
+        "cstdint": "cpp",
+        "cstdio": "cpp",
+        "cstdlib": "cpp",
+        "cstring": "cpp",
+        "cwchar": "cpp",
+        "exception": "cpp",
+        "fstream": "cpp",
+        "initializer_list": "cpp",
+        "ios": "cpp",
+        "iosfwd": "cpp",
+        "istream": "cpp",
+        "iterator": "cpp",
+        "limits": "cpp",
+        "memory": "cpp",
+        "new": "cpp",
+        "ostream": "cpp",
+        "stdexcept": "cpp",
+        "streambuf": "cpp",
+        "system_error": "cpp",
+        "tuple": "cpp",
+        "type_traits": "cpp",
+        "typeinfo": "cpp",
+        "utility": "cpp",
+        "xfacet": "cpp",
+        "xiosbase": "cpp",
+        "xlocale": "cpp",
+        "xlocinfo": "cpp",
+        "xlocnum": "cpp",
+        "xmemory": "cpp",
+        "xstddef": "cpp",
+        "xstring": "cpp",
+        "xtr1common": "cpp",
+        "xutility": "cpp"
     },
     "C_Cpp.clang_format_fallbackStyle": "LLVM",
     "editor.formatOnSave": true,

include/sim.h

@@ -14,7 +14,7 @@ double integral(double x2, double x1, double dt);
 double const dt = 0.001;
 double const g = -9.81;
 
-void sim(struct Vehicle &State, struct Vehicle &PrevState) {
+bool sim(struct Vehicle &State, struct Vehicle &PrevState) {
 
   // defining a few random values here cause I'm lazy
   State.burnElapsed = 2000;
@@ -42,16 +42,33 @@ void sim(struct Vehicle &State, struct Vehicle &PrevState) {
          "LQRx, LQRy"
       << std::endl;
 
+  int t = 0;
+
   // Start Sim
-  for (int t = 0; t < State.simTime; t++) {
+  do {
     thrustSelection(State, t);
     lqrCalc(State);
     TVC(State);
     vehicleDynamics(State, PrevState, t);
     write2CSV(State, outfile, t);
-  }
+    t++;
+  } while ((State.z > 0) && (State.thrust != 0));
 
   outfile.close();
+
+  bool returnValue;
+
+  if (abs(State.vz) < 5) {
+    if ((abs(State.yaw) < 5) && (abs(State.pitch) < 5)) {
+      returnValue = 1;
+    } else {
+      returnValue = 0;
+    }
+  } else {
+    returnValue = 0;
+  }
+
+  return returnValue;
 }
 
 void burnStartTimeCalc(struct Vehicle &State) {
@@ -94,7 +111,7 @@ void thrustSelection(struct Vehicle &State, int t) {
     State.mass = State.massInitial - (State.mdot * State.burnElapsed);
   }
 
-  else if (abs(State.burnVelocity - State.vz) < .001) {
+  else if (abs(State.burnVelocity + State.vz) < .001) {
     // Start burn
     State.burnStart = t;
     State.burnElapsed = 0;
@@ -292,6 +309,9 @@ void vehicleDynamics(Vehicle &State, Vehicle &PrevState, int t) {
     State.roll = integral(State.psidot, PrevState.roll, State.stepSize);
   }
 
+  PrevState = State;
+
+  /*
   // Set "prev" values for next timestep
   PrevState.I11 = State.I11;
   PrevState.I22 = State.I22;
@@ -320,6 +340,7 @@ void vehicleDynamics(Vehicle &State, Vehicle &PrevState, int t) {
   PrevState.x = State.x;
   PrevState.y = State.y;
   PrevState.z = State.z;
+  */
 }
 
 void write2CSV(struct Vehicle &State, std::fstream &outfile, int t) {

src/main.cpp

@@ -8,7 +8,7 @@
 #include "Vehicle.h"
 #include "sim.h"
 
-void sim(struct Vehicle &);
+bool sim(struct Vehicle &);
 
 int main() {
   Vehicle State;
@@ -47,10 +47,15 @@ int main() {
   State.burntime = 3.45 - 0.148;                                // [s]
   State.mdot = State.massPropellant / State.burntime;           // [kg/s]
 
-  sim(State, PrevState);
+  bool outcome = sim(State, PrevState);
 
-  std::cout << "Finished";
-  std::cin.get();
+  std::cout << "Finished"
+            << "\n";
+
+  if (outcome == 1)
+    std::cout << "Success!";
+  else if (outcome == 0)
+    std::cout << "Failed!";
 
   return 0;
 }