Anson/Lander-Embedded
1
0
Fork 0
mirror of https://gitlab.com/lander-team/lander-cpp.git synced 2025-06-16 15:17:23 +00:00
Code Releases Activity

cleanup from debugging

Browse Source
This commit is contained in:
bpmcgeeney 2021-10-14 17:45:23 -07:00
parent af4a5d16d5
commit ee9fa3a3d1
4 changed files with 1 additions and 45 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
include/outVector.h
View File

@ -33,9 +33,6 @@ struct outVector {
std::vector<double> LQRx = std::vector<double>(length, 0.0); std::vector<double> LQRx = std::vector<double>(length, 0.0);
std::vector<double> LQRy = std::vector<double>(length, 0.0); std::vector<double> LQRy = std::vector<double>(length, 0.0);
std::vector<double> thrust = std::vector<double>(length, 0.0);
std::vector<double> d_yError = std::vector<double>(length, 0.0);
}; };
#endif #endif

6
include/sim.h
View File

@ -376,8 +376,6 @@ void state2vec(Vehicle &State, Vehicle &PrevState, outVector &stateVector,
stateVector.LQRx[t] = State.LQRx; stateVector.LQRx[t] = State.LQRx;
stateVector.LQRy[t] = State.LQRy; stateVector.LQRy[t] = State.LQRy;
stateVector.thrust[t] = State.thrust;
stateVector.d_yError[t] = State.d_yError;
// Set "prev" values for next timestep // Set "prev" values for next timestep
PrevState = State; PrevState = State;
@ -434,9 +432,7 @@ void write2CSV(outVector &stateVector, Vehicle &State) {
outfile << stateVector.thrustFiring[t] << ", "; outfile << stateVector.thrustFiring[t] << ", ";
outfile << stateVector.LQRx[t] << ", "; outfile << stateVector.LQRx[t] << ", ";
outfile << stateVector.LQRy[t] << ", "; outfile << stateVector.LQRy[t] << std::endl;
outfile << stateVector.thrust[t] << ", ";
outfile << stateVector.d_yError[t] << std::endl;
} }
outfile.close(); outfile.close();

13
matlabHelpers/Untitled.asv
View File

@ -1,13 +0,0 @@
clear all; close all; clc;
syms I11 I22 I33 I11dot I22dot I33dot
I = [I11 0 0; 0 I22 0; 0 0 I33];
Idot = [I11dot 0 0; 0 I22dot 0; 0 0 I33dot];
syms yaw pitch roll yawdot pitchdot rolldot yawddot pitchddot rollddot
w =
I *

24
matlabHelpers/Untitled.m
View File

@ -1,24 +0,0 @@
clear all; close all; clc;
syms I11 I22 I33 I11dot I22dot I33dot
I = [I11 0 0; 0 I22 0; 0 0 I33];
Idot = [I11dot 0 0; 0 I22dot 0; 0 0 I33dot];
syms yaw pitch roll yawdot pitchdot rolldot yawddot pitchddot rollddot
w = [yawdot; pitchdot; rolldot];
Iw = I * w;
Idw = Idot * w;
C = cross(w, Iw);
syms momentX momentY momentZ
M = [momentX; momentY; momentZ];
A = M - Idw - C;
B = [A(1) A(2) A(3)];
X = B*inv(I);
E = [X(1); X(2); X(3)]