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phi bound removed

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Pascal Brisset
2006-10-21 06:16:38 +00:00
parent f81246500c
commit 5723df0c64
1 changed files with 2 additions and 1 deletions
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sw/simulator/flightModel.ml
+2 -1
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@@ -163,7 +163,8 @@ module Make(A:Data.MISSION) = struct
if state.air_speed > 0. then begin 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 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_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 let psi_dot = -. g /. state.air_speed *. tan (yaw_response_factor *. state.phi) in
state.psi <- norm_angle (state.psi +. psi_dot *. dt); state.psi <- norm_angle (state.psi +. psi_dot *. dt);
let dx = state.air_speed *. cos state.psi *. dt +. wx *. dt let dx = state.air_speed *. cos state.psi *. dt +. wx *. dt