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Code Issues Releases Activity

Fix bug in wind speed usage for simulation

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This commit is contained in:
James Cotton 2012-06-08 11:14:15 -05:00
parent 6605d861dd
commit bcaeda98f7
1 changed files with 4 additions and 4 deletions
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8
flight/Modules/Sensors/simulated/sensors.c
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@ -399,8 +399,8 @@ static void simulateModelQuadcopter()
// Apply acceleration based on velocity
ned_accel[0] -= K_FRICTION * (vel[0] - wind[0]);
ned_accel[1] -= K_FRICTION * (vel[1] - wind[0]);
ned_accel[2] -= K_FRICTION * (vel[2] - wind[0]);
ned_accel[1] -= K_FRICTION * (vel[1] - wind[1]);
ned_accel[2] -= K_FRICTION * (vel[2] - wind[2]);
// Predict the velocity forward in time
vel[0] = vel[0] + ned_accel[0] * dT;
@ -655,8 +655,8 @@ static void simulateModelAirplane()
// Apply acceleration based on velocity
ned_accel[0] -= K_FRICTION * (vel[0] - wind[0]);
ned_accel[1] -= K_FRICTION * (vel[1] - wind[0]);
ned_accel[2] -= K_FRICTION * (vel[2] - wind[0]);
ned_accel[1] -= K_FRICTION * (vel[1] - wind[1]);
ned_accel[2] -= K_FRICTION * (vel[2] - wind[2]);
// Predict the velocity forward in time
vel[0] = vel[0] + ned_accel[0] * dT;