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TESTING CODE

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This commit is contained in:
Marvin Harms
2022-08-20 14:37:06 +02:00
parent 48beb3ead0
commit cf53c31d45
3 changed files with 14 additions and 7 deletions
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src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.cpp
+5 -2
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@@ -468,10 +468,12 @@ FixedwingPositionINDIControl::_select_trajectory(float initial_energy)
<energy> in [E_min, E_max]
*/
/*
float v = _findClosest(_v_max_arr, _gridsize, _shear_v_max); // wind velocity
float a = _findClosest(_alpha_arr, _gridsize, _shear_alpha); // shear strength
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));
char file[30] = "nominal";
char v_str[6];
char a_str[6];
@@ -483,7 +485,8 @@ FixedwingPositionINDIControl::_select_trajectory(float initial_energy)
strcat(file,"_");
strcat(file,gcvt(e, 2, e_str));
strcat(file,".csv");
PX4_INFO("filename: \t%.30s", file);
*/
//PX4_INFO("filename: \t%.30s", file);
// select loiter trajectory for loiter test
@@ -879,7 +882,7 @@ FixedwingPositionINDIControl::Run()
_soaring_controller_wind.position[2] = _pos(2);
Eulerf e(Quatf(_attitude.q));
float bank = e(0);
if (fabs(bank)<0.5f) {
if ((float)fabs(bank)<0.5f) {
_soaring_controller_wind.valid = true;
}
else {