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This commit is contained in:
Antoine Drouin
2010-02-24 12:45:01 +00:00
parent 6b81bd7b9b
commit f58628cc47
2 changed files with 3 additions and 3 deletions
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sw/simulator/scilab/q6d/q6d_fdm.sci
+1 -1
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@@ -138,7 +138,7 @@ function [F_ltp] = fdm_get_forces_ltp(X, U)
quat = X(FDM_SQI:FDM_SQZ);
airspeed_body = quat_vect_mult(quat, airspeed_ltp);
lift_body = [0; 0; -sum(U) * fdm_Ct0 * ( 1 + 1/fdm_V0 * airspeed_body(AXIS_Z))];
lift_body = [0; 0; -sum(U) * fdm_Ct0 * ( 1 - 1/fdm_V0 * airspeed_body(AXIS_Z))];
lift_ltp = quat_vect_inv_mult(quat, lift_body);
weight_ltp = [0; 0; fdm_g * fdm_mass];
sw/simulator/scilab/q6d/test_stop_stop.sce
+2 -2
View File
@@ -17,8 +17,8 @@ max_accel = [ 9.81*tan(rad_of_deg(30)) 0.5*9.81];
//b0 = [ 0 0 0];
//b1 = [-10 1 -2];
b0 = [ 0 0 0];
b1 = [ 1 0 5];
b0 = [ 0 0 0 ];
b1 = [ 1 0 -5];
[fo_traj] = sbb_gen_traj(time, dyn, max_speed, max_accel, b0, b1);