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increased buffer size and added trajec loader

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This commit is contained in:
Marvin Harms
2022-08-05 09:29:06 +02:00
parent ea602f8eab
commit 5bce20e06a
2 changed files with 11 additions and 12 deletions
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src/modules/fw_dyn_soar_control/CMakeLists.txt
+1 -1
View File
@@ -36,7 +36,7 @@
px4_add_module( px4_add_module(
MODULE modules__fw_dyn_soar_control MODULE modules__fw_dyn_soar_control
MAIN fw_dyn_soar_control MAIN fw_dyn_soar_control
STACK_MAIN 2048 STACK_MAIN 4096
SRCS SRCS
FixedwingPositionINDIControl.cpp FixedwingPositionINDIControl.cpp
FixedwingPositionINDIControl.hpp FixedwingPositionINDIControl.hpp
src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.cpp
+10 -11
View File
@@ -419,7 +419,7 @@ FixedwingPositionINDIControl::_findClosest(float arr[], int n, float target)
while (i < j) { while (i < j) {
mid = (i + j) / 2; mid = (i + j) / 2;
if (fabs(arr[mid]-target) < 0.000001f) if ((float)fabs(arr[mid]-target) < (float)0.0001f)
return arr[mid]; return arr[mid];
/* If target is less than array element, /* If target is less than array element,
@@ -465,24 +465,24 @@ FixedwingPositionINDIControl::_select_trajectory(float initial_energy)
<alpha> in [0.10, 1.00] <alpha> in [0.10, 1.00]
<energy> in [E_min, E_max] <energy> in [E_min, E_max]
*/ */
/*
float v = _findClosest(_v_max_arr, _gridsize, _shear_v_max); // wind velocity float v = _findClosest(_v_max_arr, _gridsize, _shear_v_max); // wind velocity
float a = _findClosest(_alpha_arr, _gridsize, _shear_alpha); // shear strength float a = _findClosest(_alpha_arr, _gridsize, _shear_alpha); // shear strength
float e = _findClosest(_energy_arr, _gridsize, _shear_energy); // initial energy float e = _findClosest(_energy_arr, _gridsize, _shear_energy); // initial energy
PX4_INFO("V, A, E: \t%.2f\t%.2f\t%.2f", double(v), double(a), double(e)); PX4_INFO("V, A, E: \t%.2f\t%.2f\t%.2f", double(v), double(a), double(e));
char file[30] = "nominal"; char file[30] = "nominal";
char v_str[10]; char v_str[6];
char a_str[10]; char a_str[6];
char e_str[10]; char e_str[6];
strcat(file,"_"); strcat(file,"_");
strcat(file,gcvt(v, 3, v_str)); strcat(file,gcvt(v, 2, v_str));
strcat(file,"_"); strcat(file,"_");
strcat(file,gcvt(a, 3, a_str)); strcat(file,gcvt(a, 3, a_str));
strcat(file,"_"); strcat(file,"_");
strcat(file,gcvt(e, 3, e_str)); strcat(file,gcvt(e, 2, e_str));
strcat(file,".csv"); strcat(file,".csv");
PX4_INFO("filename: \t%.30s", file); PX4_INFO("filename: \t%.30s", file);
*/
// select loiter trajectory for loiter test // select loiter trajectory for loiter test
char filename[16]; char filename[16];
@@ -525,7 +525,6 @@ FixedwingPositionINDIControl::_select_trajectory(float initial_energy)
Therefore we define a new transform between the soaring frame and the trajectory frame. Therefore we define a new transform between the soaring frame and the trajectory frame.
*/ */
_read_trajectory_coeffs_csv(filename); _read_trajectory_coeffs_csv(filename);
} }
@@ -536,8 +535,8 @@ FixedwingPositionINDIControl::_read_trajectory_coeffs_csv(char *filename)
// ======================================================================= // =======================================================================
bool error = false; bool error = false;
//char home_dir[200] = "/home/marvin/Documents/master_thesis_ADS/PX4/Git/ethzasl_fw_px4/src/modules/fw_dyn_soar_control/trajectories/"; char home_dir[200] = "/home/marvin/Documents/master_thesis_ADS/PX4/Git/ethzasl_fw_px4/src/modules/fw_dyn_soar_control/trajectories/";
char home_dir[200] = PX4_ROOTFSDIR"/fs/microsd/trajectories/"; //char home_dir[200] = PX4_ROOTFSDIR"/fs/microsd/trajectories/";
//PX4_ERR(home_dir); //PX4_ERR(home_dir);
strcat(home_dir,filename); strcat(home_dir,filename);
FILE* fp = fopen(home_dir, "r"); FILE* fp = fopen(home_dir, "r");