[paparazzi-commits] [4636]

[antoine drouin]

Revision: 4636
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4636
Author:   poine
Date:     2010-03-05 20:32:50 +0000 (Fri, 05 Mar 2010)
Log Message:
-----------


Modified Paths:
--------------
    paparazzi3/trunk/sw/simulator/scilab/q3d/q3d_display.sci
    paparazzi3/trunk/sw/simulator/scilab/q3d/q3d_fdm.sci
    paparazzi3/trunk/sw/simulator/scilab/q3d/test_adapt.sce

Modified: paparazzi3/trunk/sw/simulator/scilab/q3d/q3d_display.sci
===================================================================
--- paparazzi3/trunk/sw/simulator/scilab/q3d/q3d_display.sci    2010-03-05 
19:59:23 UTC (rev 4635)
+++ paparazzi3/trunk/sw/simulator/scilab/q3d/q3d_display.sci    2010-03-05 
20:32:50 UTC (rev 4636)
@@ -204,12 +204,12 @@
   
   subplot(2,3,1);
   plot2d(fdm_time, adp_y(1,:), 3);
-  plot2d(fdm_time, fdm_Ct0/fdm_mass*ctl_u(CTL_UT,:), 2);
+//  plot2d(fdm_time, fdm_Ct0/fdm_mass*ctl_u(CTL_UT,:), 2);
   legends(["y1", "ut"],[3 2], with_box=%f, opt="ul"); 
   xtitle('apd_y1');
   
   subplot(2,3,2);
-  plot2d(fdm_time, fdm_Ct0/fdm_mass*ones(1,length(time)),3);
+//  plot2d(fdm_time, fdm_Ct0/fdm_mass*ones(1,length(time)),3);
   plot2d(fdm_time, adp_est(ADP_EST_A,:), 2);
   xtitle('adp_est A');
 
@@ -220,12 +220,12 @@
  
   subplot(2,3,4);
   plot2d(fdm_time, adp_y(2,:), 3);
-  plot2d(fdm_time, fdm_la*fdm_Ct0/fdm_inertia*adp_ud_f, 2);
+//  plot2d(fdm_time, fdm_la*fdm_Ct0/fdm_inertia*adp_ud_f, 2);
   legends(["y2", "udf"],[3 2], with_box=%f, opt="ul");   
   xtitle('ud_f');
   
   subplot(2,3,5);
-  plot2d(fdm_time, fdm_la*fdm_Ct0/fdm_inertia*ones(1, length(time)),3);
+//  plot2d(fdm_time, fdm_la*fdm_Ct0/fdm_inertia*ones(1, length(time)),3);
   plot2d(fdm_time, adp_est(ADP_EST_B,:), 2);
   xtitle('adp_est B');
 

Modified: paparazzi3/trunk/sw/simulator/scilab/q3d/q3d_fdm.sci
===================================================================
--- paparazzi3/trunk/sw/simulator/scilab/q3d/q3d_fdm.sci        2010-03-05 
19:59:23 UTC (rev 4635)
+++ paparazzi3/trunk/sw/simulator/scilab/q3d/q3d_fdm.sci        2010-03-05 
20:32:50 UTC (rev 4636)
@@ -29,12 +29,12 @@
 FDM_MOTOR_NB    = 2;
 
 fdm_g       = 9.81;
-fdm_mass    = 0.25;
+fdm_mass    = 0.5;
 fdm_inertia = 0.0078;
 fdm_la  = 0.25;                        // arm length
 
-fdm_Ct0 = 4. * fdm_mass * fdm_g / 2;   // thrust coefficient
-fdm_V0  = 1e9;                        // 
+//fdm_Ct0 = 4. * fdm_mass * fdm_g / 2;   // thrust coefficient
+//fdm_V0  = 1e9;                              // 
 fdm_Cd  = 1e-9;                        // drag coefficient
 
 fdm_min_thrust =  0.05; //  5%  

Modified: paparazzi3/trunk/sw/simulator/scilab/q3d/test_adapt.sce
===================================================================
--- paparazzi3/trunk/sw/simulator/scilab/q3d/test_adapt.sce     2010-03-05 
19:59:23 UTC (rev 4635)
+++ paparazzi3/trunk/sw/simulator/scilab/q3d/test_adapt.sce     2010-03-05 
20:32:50 UTC (rev 4636)
@@ -28,8 +28,8 @@
   max_speed = [ 5                        2.5];
   max_accel = [ 9.81*tan(rad_of_deg(30)) 0.5*9.81];
   b0 = [-5  0];
-  b1 = [ 5 -5];
-  b2 = [ 0 -5];
+  b1 = [ 5  0];
+  b2 = [ 0  0];
   [fo_traj1] = sbb_gen_traj(time1, dyn, max_speed, max_accel, b0, b1);
   b1 = [fo_traj1(1,1,$) fo_traj1(2,1,$)];
   [fo_traj2] = sbb_gen_traj(time2, dyn, max_speed, max_accel, b1, b2);
@@ -41,9 +41,11 @@
 
 fdm_init(time, df_state_of_fo(fo_traj(:,:,1)), [0.25 0.25]');
 
-global fdm_perturb;
-k=find(time > 5 & time < 5.05);
-fdm_perturb(FDM_AX,k) = 10*ones(1,length(k));
+if 0
+  global fdm_perturb;
+  k=find(time > 5 & time < 5.05);
+  fdm_perturb(FDM_AX,k) = 10*ones(1,length(k));
+end
 
 ctl_init(time);
 adp_init(time, [19.5 157]', []);