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Code Issues Releases Activity

Enable guidance on simulation and add wind model

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This commit is contained in:
James Cotton 2012-03-14 21:52:31 -05:00
parent fdfaac6559
commit df6bc4deff
2 changed files with 9 additions and 3 deletions
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11
flight/Modules/Sensors/simulated/sensors.c
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@ -380,6 +380,11 @@ static void simulateModelQuadcopter()
AttitudeActualSet(&attitudeActual);
}
static float wind[3] = {0,0,0};
wind[0] = wind[0] * 0.95 + rand_gauss();
wind[1] = wind[1] * 0.95 + rand_gauss();
wind[2] = wind[2] * 0.95 + rand_gauss();
Quaternion2R(q,Rbe);
// Make thrust negative as down is positive
ned_accel[0] = -thrust * Rbe[2][0];
@ -388,9 +393,9 @@ static void simulateModelQuadcopter()
ned_accel[2] = -thrust * Rbe[2][2] + 9.81;
// Apply acceleration based on velocity
ned_accel[0] -= K_FRICTION * vel[0];
ned_accel[1] -= K_FRICTION * vel[1];
ned_accel[2] -= K_FRICTION * vel[2];
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]);
// Predict the velocity forward in time
vel[0] = vel[0] + ned_accel[0] * dT;

1
flight/Revolution/Makefile.osx
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@ -55,6 +55,7 @@ USE_THUMB_MODE = YES
# List of modules to include
MODULES = Telemetry
MODULES += Actuator ManualControl Stabilization
MODULES += AltitudeHold Guidance
MODULES += Attitude/revolution
#MODULES += SimulatedAttitude