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Testing Code

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Marvin Harms
2022-09-08 15:57:10 +02:00
parent d85c51f684
commit f328307c41
2 changed files with 6 additions and 6 deletions
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src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.cpp
+4 -4
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@@ -447,9 +447,9 @@ FixedwingPositionINDIControl::_compute_wind_estimate()
float AoA_approx = (((2.f*Fz)/(_rho*_area*(fmaxf(_cal_airspeed*_cal_airspeed,_stall_speed*_stall_speed))+0.001f) - _C_L0)/_C_L1) /
(1 - ((2.f*Fx)/(_rho*_area*(fmaxf(_cal_airspeed*_cal_airspeed,_stall_speed*_stall_speed))+0.001f)/_C_L1));
AoA_approx = constrain(AoA_approx,-0.2f,0.3f);
//float speed = fmaxf(_cal_airspeed, _stall_speed);
float speed = fmaxf(_cal_airspeed, _stall_speed);
float u_approx = _true_airspeed;
float v_approx = 0.f; //body_force(1)*_true_airspeed / (0.5f*_rho*powf(speed,2)*_area*_C_B1);
float v_approx = body_force(1)*_true_airspeed / (0.5f*_rho*powf(speed,2)*_area*_C_B1);
float w_approx = tanf(AoA_approx-_aoa_offset)*_true_airspeed;
Vector3f vel_air = R_ib*(Vector3f{u_approx, v_approx, w_approx});
@@ -655,8 +655,8 @@ FixedwingPositionINDIControl::_read_trajectory_coeffs_csv(char *filename)
// =======================================================================
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] = PX4_ROOTFSDIR"/fs/microsd/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/";
//PX4_ERR(home_dir);
strcat(home_dir,filename);
FILE* fp = fopen(home_dir, "r");
src/modules/fw_dyn_soar_estimator/FixedwingShearEstimator.cpp
+2 -2
View File
@@ -124,8 +124,8 @@ FixedwingShearEstimator::init()
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] = PX4_ROOTFSDIR"/fs/microsd/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/";
strcat(home_dir, "robust/min_aspd_matrix.csv");
FILE* fp = fopen(home_dir, "r");