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re-enable launch possibility from the GCS

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Pascal Brisset
2007-06-17 16:41:59 +00:00
parent 7c8a454d3c
commit 37d44e246b
3 changed files with 6 additions and 4 deletions
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sw/simulator/flightModel.ml
+3 -1
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@@ -156,8 +156,10 @@ module Make(A:Data.MISSION) = struct
http://controls.ae.gatech.edu/papers/johnson_dasc_01.pdf
http://controls.ae.gatech.edu/papers/johnson_mst_01.pdf
*)
let state_update = fun state (wx, wy) dt ->
let state_update = fun state nominal_airspeed (wx, wy) dt ->
let now = state.t +. dt in
if state.air_speed = 0. && state.thrust > 0. then
state.nominal_air_speed <- nominal_airspeed;
state.air_speed <- state.nominal_air_speed*.(1.-.sin state.theta);
if state.air_speed > 0. then begin
let phi_dot_dot = roll_response_factor *. state.delta_a -. state.phi_dot in
sw/simulator/flightModel.mli
+2 -2
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@@ -45,7 +45,7 @@ module Make :
val nominal_airspeed : float (* m/s *)
val roll_neutral_default : float (* rad *)
val pitch_neutral_default : float (* rad *)
val state_update : state -> float * float -> float -> unit
(** [state_update state (wind_x, wind_y) dt] With m/s for wind and s for
val state_update : state -> float -> float * float -> float -> unit
(** [state_update nom_airspeed state (wind_x, wind_y) dt] With m/s for wind and s for
dt *)
end
sw/simulator/sim.ml
+1 -1
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@@ -154,7 +154,7 @@ module Make(AircraftItl : AIRCRAFT_ITL) = struct
let fm_task = fun () ->
FM.do_commands !state commands;
FM.state_update !state (!wind_x, !wind_y) fm_period
FM.state_update !state FM.nominal_airspeed (!wind_x, !wind_y) fm_period
and ir_task = fun () ->
let phi, theta, _ = FlightModel.get_attitude !state in