From a3a97f5e95eec090f95c078551401dbd6e5d623f Mon Sep 17 00:00:00 2001
From: Antoine Drouin <poinix@gmail.com>
Date: Thu, 19 Mar 2009 17:39:47 +0000
Subject: [PATCH] *** empty log message ***

---
 sw/simulator/scilab/q3d/test_8.sce | 65 ++++++++++++++++++++++++++++++
 1 file changed, 65 insertions(+)
 create mode 100644 sw/simulator/scilab/q3d/test_8.sce

diff --git a/sw/simulator/scilab/q3d/test_8.sce b/sw/simulator/scilab/q3d/test_8.sce
new file mode 100644
index 0000000000..6cfa7fb245
--- /dev/null
+++ b/sw/simulator/scilab/q3d/test_8.sce
@@ -0,0 +1,65 @@
+clear();
+clearglobal();
+
+
+exec('q3d_utils.sci');
+exec('q3d_fdm.sci');
+exec('q3d_ctl.sci');
+exec('q3d_ref_misc.sci');
+
+
+
+l_t0 = 0;
+l_duration = 2.2;
+l_center = [0;0];
+l_radius = 1;
+[time, Xref] = get_reference_looping(l_t0, l_duration, l_center, l_radius);
+
+
+fdm_init(0,time($));
+
+ctl_init();
+
+global ctl_motor;
+ctl_motor(:,1) = fdm_mass * fdm_g * [0.5;0.5];
+
+global ctl_ref_0;
+global ctl_ref_1;
+global ctl_ref_2;
+global ctl_ref_3;
+global ctl_ref_4;
+ctl_ref_0 =  Xref(1:2,:);
+ctl_ref_1 =  Xref(3:4,:);
+ctl_ref_2 =  Xref(5:6,:);
+ctl_ref_3 =  Xref(7:8,:);
+ctl_ref_4 =  Xref(9:10,:);
+
+//global fdm_state;
+fdm_state(FDM_SX, 1) = ctl_ref_0(AXIS_X,1);
+fdm_state(FDM_SZ, 1) = ctl_ref_0(AXIS_Z,1);
+fdm_state(FDM_SXD, 1) = ctl_ref_1(AXIS_X,1);
+fdm_state(FDM_SZD, 1) = ctl_ref_1(AXIS_Z,1);
+ctl_run_flatness(1);
+//global ctl_ref_thetad;
+fdm_state(FDM_STHETA, 1)  = ctl_ref_theta(1);
+fdm_state(FDM_STHETAD, 1) = ctl_ref_thetad(1);
+
+for i=1:length(fdm_time)-1
+
+  fdm_run(i+1, ctl_motor(:,i));
+  ctl_run_flatness(i+1);
+  
+end
+if 1
+clf();
+plot2d(fdm_state(FDM_SX,:), fdm_state(FDM_SZ,:),2);
+plot2d(ctl_ref_0(AXIS_X,:), ctl_ref_0(AXIS_Z,:),3);
+  pause
+end
+clf();
+drawlater();
+ctl_display();
+drawnow();
+  pause
+
+gen_video();
\ No newline at end of file