From 5723df0c649df1b7b0c3ca07479d605574d83a01 Mon Sep 17 00:00:00 2001 From: Pascal Brisset Date: Sat, 21 Oct 2006 06:16:38 +0000 Subject: [PATCH] phi bound removed --- sw/simulator/flightModel.ml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/sw/simulator/flightModel.ml b/sw/simulator/flightModel.ml index e8b609778b..42843f408b 100644 --- a/sw/simulator/flightModel.ml +++ b/sw/simulator/flightModel.ml @@ -163,7 +163,8 @@ module Make(A:Data.MISSION) = struct if state.air_speed > 0. then begin let phi_dot_dot = roll_response_factor *. state.delta_a +. c_lp *. state.phi_dot /. state.air_speed in state.phi_dot <- state.phi_dot +. phi_dot_dot *. dt; - state.phi <- bound (state.phi +. state.phi_dot *. dt) (-.max_phi) max_phi; + state.phi <- norm_angle (state.phi +. state.phi_dot *. dt); + let psi_dot = -. g /. state.air_speed *. tan (yaw_response_factor *. state.phi) in state.psi <- norm_angle (state.psi +. psi_dot *. dt); let dx = state.air_speed *. cos state.psi *. dt +. wx *. dt