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fixed fdm variable not updated

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This commit is contained in:
Antoine Drouin
2009-07-24 17:43:18 +00:00
parent 79a9373fc8
commit 777e2b51ed
5 changed files with 18 additions and 7 deletions
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conf/telemetry/telemetry_booz2.xml
+1 -1
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@@ -64,7 +64,7 @@
<message name="DL_VALUE" period="0.5"/>
<message name="ALIVE" period="0.9"/>
<message name="BOOZ2_STAB_ATTITUDE" period=".03"/>
<message name="BOOZ2_STAB_ATTITUDE_REF" period=".2"/>
<message name="BOOZ2_STAB_ATTITUDE_REF" period=".03"/>
</mode>
<mode name="vert_loop">
sw/airborne/math/pprz_algebra.h
+2 -2
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@@ -476,9 +476,9 @@
(_qi).qz = QUAT1_BFP_OF_REAL((_qf).qz); \
}
#define RATES_FLOAT_OF_BFP(_ef, _ei) { \
#define RATES_FLOAT_OF_BFP(_ef, _ei) { \
(_ef).phi = RATE_FLOAT_OF_BFP((_ei).phi); \
(_ef).theta = RATE_FLOAT_OF_BFP((_ei).theta); \
(_ef).theta = RATE_FLOAT_OF_BFP((_ei).theta); \
(_ef).psi = RATE_FLOAT_OF_BFP((_ei).psi); \
}
sw/simulator/nps_autopilot_booz.c
+3
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@@ -92,6 +92,9 @@ void nps_autopilot_run_step(double time __attribute__ ((unused))) {
#include "math/pprz_algebra_int.h"
#include "booz_ahrs.h"
static void sim_overwrite_ahrs(void) {
// printf("%f\n", fdm.ltpprz_to_body_eulers.phi);
booz_ahrs.ltp_to_body_euler.phi = ANGLE_BFP_OF_REAL(fdm.ltpprz_to_body_eulers.phi);
booz_ahrs.ltp_to_body_euler.theta = ANGLE_BFP_OF_REAL(fdm.ltpprz_to_body_eulers.theta);
booz_ahrs.ltp_to_body_euler.psi = ANGLE_BFP_OF_REAL(fdm.ltpprz_to_body_eulers.psi);
sw/simulator/nps_fdm_jsbsim.c
+9 -1
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@@ -95,9 +95,13 @@ static void fetch_state(void) {
jsbsimvec_to_vec(&fdm.body_ecef_accel,&propagate->GetUVWdot());
//jsbsimvec_to_vec(&noninertial_accel,&propagate->GetUVWdot());
/* attitude */
jsbsimquat_to_quat(&fdm.ltp_to_body_quat,&VState->vQtrn);
/* convert to eulers */
DOUBLE_EULERS_OF_QUAT(fdm.ltp_to_body_eulers, fdm.ltp_to_body_quat);
jsbsimvec_to_rate(&fdm.body_ecef_rotvel,&VState->vPQR);
jsbsimvec_to_rate(&fdm.body_ecef_rotaccel,&propagate->GetPQRdot());
/* JSBSIM seems to call GetPQRdot body_ecef_rotaccel */
// rate_to_vec(&dummy_vector,&fdm.body_ecef_rotvel);
// DOUBLE_VECT3_CROSS_PRODUCT(fdm.body_ecef_accel,dummy_vector,fdm.body_ecef_vel);
// DOUBLE_VECT3_SUM(fdm.body_ecef_accel,fdm.body_ecef_accel,noninertial_accel)
@@ -107,10 +111,14 @@ static void fetch_state(void) {
struct NedCoor_f ned;
ned_of_ecef_point_f(&ned, &ltpdef, &ecefpos_f);
VECT3_COPY(fdm.ltpprz_pos,ned);
DOUBLE_EULERS_OF_QUAT(fdm.ltp_to_body_eulers, fdm.ltp_to_body_quat);
//jsbsimloc_to_lla(&fdm.lla_pos, &VState->vLocation);
test123(&fdm.lla_pos, propagate);
/* the "false" pprz lpt */
/* FIXME: use jsbsim lpt for now */
EULERS_COPY(fdm.ltpprz_to_body_eulers, fdm.ltp_to_body_eulers);
QUAT_COPY(fdm.ltpprz_to_body_quat, fdm.ltp_to_body_quat);
}
sw/simulator/nps_radio_control.c
+3 -3
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@@ -33,10 +33,10 @@ void nps_radio_control_run_script(double time) {
// nps_radio_control.throttle = 0.265;
// nps_radio_control.mode = MODE_SWITCH_MANUAL;
if (((int32_t)rint((time*1.)))%2)
nps_radio_control.roll = 0.1;
if (((int32_t)rint((time*0.5)))%2)
nps_radio_control.roll = 0.15;
else
nps_radio_control.roll = -0.1;
nps_radio_control.roll = -0.15;
}
}