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fixed wrong input computation

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Antoine Drouin
2010-02-24 10:56:13 +00:00
parent ec8c6911dd
commit 141c92e40e
2 changed files with 4 additions and 4 deletions
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sw/simulator/scilab/q6d/q6d_diff_flatness.sci
+3 -3
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@@ -170,8 +170,8 @@ function [inp] = df_input_of_fo(fo)
b = -cphi*stheta*thetad*psid + cphi*ctheta*psi2d;
rd = a+b;
inp(2) = DF_JXX/DF_L*pd + (DF_JZZ-DF_JYY)*q*r;
inp(3) = DF_JYY/DF_L*qd + (DF_JXX-DF_JZZ)*p*r;
inp(4) = DF_JZZ/DF_CM_OV_CT*rd + (DF_JYY-DF_JXX)*p*q;
inp(2) = 1/DF_L*(DF_JXX*pd + (DF_JZZ-DF_JYY)*q*r);
inp(3) = 1/DF_L*(DF_JYY*qd + (DF_JXX-DF_JZZ)*p*r);
inp(4) = 1/DF_CM_OV_CT*(DF_JZZ*rd + (DF_JYY-DF_JXX)*p*q);
endfunction
sw/simulator/scilab/q6d/test_stop_stop.sce
+1 -1
View File
@@ -18,7 +18,7 @@ max_accel = [ 9.81*tan(rad_of_deg(30)) 0.5*9.81];
//b0 = [ 0 0 0];
//b1 = [-10 1 -2];
b0 = [ 0 0 0];
b1 = [ 0 5 0];
b1 = [ 1 0 5];
[fo_traj] = sbb_gen_traj(time, dyn, max_speed, max_accel, b0, b1);