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Commit 47abe145 authored by Pier Francesco A. Bachini's avatar Pier Francesco A. Bachini
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Fix initSensor and config for Gemini and Roccaraso mission

parent 84e0a634
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2 merge requests!19Update main with the Gemini simulator development,!17Fault simulation implementation in dev
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data/Gemini_Portugal_October_2023/initSensorsGemini_Portugal_October_2023.m
+ 11
− 9
View file @ 47abe145
......@@ -20,19 +20,20 @@ sensorSettings.barometer1.min_fault_time = 6; %min seconds to wait before possib
% fault generation
switch settings.fault_sim.fault_type(1)
case "offset",
case "offset"
offset_value_1 = round((settings.fault_sim.max_offset-settings.fault_sim.min_offset)*rand() + settings.fault_sim.min_offset);
sensorSettings.barometer1 = sensorSettings.barometer1.setOffset(offset_value_1); % i don't know the unit of measurment as of now
[sensorSettings.barometer1, fault_time_1] = sensorSettings.barometer1.setErrorTime(); % in seconds
case "degradation",
case "degradation"
degradation_value_1 = round((settings.fault_sim.max_degradation-settings.fault_sim.min_degradation)*rand() + settings.fault_sim.min_degradation);
sensorSettings.barometer1 = sensorSettings.barometer1.setDegradation(degradation_value_1); % i don't know the unit of measurment as of now
[sensorSettings.barometer1, fault_time_1] = sensorSettings.barometer1.setErrorTime(); % in seconds
case "freezing",
case "freezing"
sensorSettings.barometer1.setFreezing;
[sensorSettings.barometer1, fault_time_1] = sensorSettings.barometer1.setErrorTime(); % in seconds
otherwise
end
%% barometer2 - static measure (HSCMAND001BAAA5)
sensorSettings.barometer2 = Sensor_with_fault_sim(); % presure in mbar, temp should be in C°
sensorSettings.barometer2.maxMeasurementRange = 1000; % 1100, 1300 in mbar
......@@ -48,19 +49,20 @@ sensorSettings.barometer2.min_fault_time = 6; %min seconds to wait before possib
% fault generation
switch settings.fault_sim.fault_type(2)
case "offset",
case "offset"
offset_value_2 = round((settings.fault_sim.max_offset-settings.fault_sim.min_offset)*rand() + settings.fault_sim.min_offset);
sensorSettings.barometer2 = sensorSettings.barometer2.setOffset(offset_value_2); % i don't know the unit of measurment as of now
[sensorSettings.barometer2, fault_time_2] = sensorSettings.barometer2.setErrorTime(); % in seconds
case "degradation",
case "degradation"
degradation_value_2 = round((settings.fault_sim.max_degradation-settings.fault_sim.min_degradation)*rand() + settings.fault_sim.min_degradation);
sensorSettings.barometer2 = sensorSettings.barometer2.setDegradation(degradation_value_2); % i don't know the unit of measurment as of now
[sensorSettings.barometer2, fault_time_2] = sensorSettings.barometer2.setErrorTime(); % in seconds
case "freezing",
case "freezing"
sensorSettings.barometer2.setFreezing;
[sensorSettings.barometer2, fault_time_2] = sensorSettings.barometer2.setErrorTime(); % in seconds
otherwise
end
%% barometer3 - digital measure (LPS28DFWTR)
sensorSettings.barometer3 = Sensor_with_fault_sim(); % presure in mbar, temp should be in C°
sensorSettings.barometer3.maxMeasurementRange = 4060; % 1100, 1300 in mbar
......@@ -76,15 +78,15 @@ sensorSettings.barometer3.min_fault_time = 6; %min seconds to wait before possib
% fault generation
switch settings.fault_sim.fault_type(3)
case "offset",
case "offset"
offset_value_3 = round((settings.fault_sim.max_offset-settings.fault_sim.min_offset)*rand() + settings.fault_sim.min_offset);
sensorSettings.barometer3 = sensorSettings.barometer3.setOffset(offset_value_3); % i don't know the unit of measurment as of now
[sensorSettings.barometer3, fault_time_3] = sensorSettings.barometer3.setErrorTime(); % in seconds
case "degradation",
case "degradation"
degradation_value_3 = round((settings.fault_sim.max_degradation-settings.fault_sim.min_degradation)*rand() + settings.fault_sim.min_degradation);
sensorSettings.barometer3 = sensorSettings.barometer3.setDegradation(degradation_value_3); % i don't know the unit of measurment as of now
[sensorSettings.barometer3, fault_time_3] = sensorSettings.barometer3.setErrorTime(); % in seconds
case "freezing",
case "freezing"
sensorSettings.barometer3.setFreezing;
[sensorSettings.barometer3, fault_time_3] = sensorSettings.barometer3.setErrorTime(); % in seconds
otherwise
......
data/Gemini_Roccaraso_September_2023/configGemini_Roccaraso_September_2023.m
+ 7
− 9
View file @ 47abe145
......@@ -28,11 +28,8 @@ settings.Vy_final = 0;
settings.y_final = 0;
%% CONTROL AND SENSOR FREQUENCIES
if settings.electronics
settings.frequencies.controlFrequency = 10; % [hz] control action frequency
else
settings.frequencies.controlFrequency = 50;
end
settings.frequencies.arbFrequency = 10; % [hz] air brakes control frequency
settings.frequencies.prfFrequency = 1; % [hz] parafoil control frequency
settings.frequencies.accelerometerFrequency = 100; % [hz] sensor frequency
......@@ -84,12 +81,13 @@ settings.servo.maxAngle = fix(settings.servo.maxAngle*1e9)/1e9; % to avoid compu
%% NAS TUNING PARAMETERS
settings.nas.dt_k = 0.02; % [s] nas time step
settings.nas.sigma_baro = 5; % [m/2] estimated barometer variance
settings.nas.sigma_mag = 1; % [mgauss^2] estimated magnetometer variance
settings.nas.sigma_baro = 50; % [2] estimated barometer variance
settings.nas.sigma_mag = 10; % [mgauss^2] estimated magnetometer variance
settings.nas.sigma_GPS = 5; % [mg^2] estimated GPS variance
settings.nas.sigma_w = 1; % [rad^2/s^2] estimated gyroscope variance;
settings.nas.sigma_w = 10; % [rad^2/s^2] estimated gyroscope variance;
settings.nas.sigma_beta = 1e-4; % [rad/s^2] estimated gyroscope bias variance;
settings.nas.sigma_pitot = 20^2; %DA CAMBIARE
settings.nas.sigma_pitot = 20^2;
settings.nas.sigma_pitot2 = 100;
settings.nas.Mach_max = 0.4; % max mach number expected for the mission (for nas with pitot update purposes) - not currently used
......
data/Gemini_Roccaraso_September_2023/initSensorsGemini_Roccaraso_September_2023.m
+ 65
− 5
View file @ 47abe145
......@@ -5,30 +5,90 @@
% release 16/09/2023
%% barometer1 - static measure (HSCMAND001BAAA5)
sensorSettings.barometer1 = Sensor_no_offset(); % presure in mbar, temp should be in C°
sensorSettings.barometer1 = Sensor_with_fault_sim(); % presure in mbar, temp should be in C°
sensorSettings.barometer1.maxMeasurementRange = 1000; % 1100, 1300 in mbar
sensorSettings.barometer1.minMeasurementRange = 0; % 300, 10 in mbar
sensorSettings.barometer1.bit = 24; % adc on rocket is 24 bits
sensorSettings.barometer1.resolution = (sensorSettings.barometer1.maxMeasurementRange -sensorSettings.barometer1.minMeasurementRange)/(2^sensorSettings.barometer1.bit);
sensorSettings.barometer1.noiseVariance = 1; % mbar^2
%% barometer1 - static measure (HSCMAND001BAAA5)
sensorSettings.barometer2 = Sensor(); % presure in mbar, temp should be in C°
sensorSettings.barometer1.fault_time = 9; %if negative it will be generated at random between a max and a min value
sensorSettings.barometer1.max_fault_time = 96; %max seconds to wait before possible fault
sensorSettings.barometer1.min_fault_time = 6; %min seconds to wait before possible fault
% fault generation
switch settings.fault_sim.fault_type(1)
case "offset"
offset_value_1 = round((settings.fault_sim.max_offset-settings.fault_sim.min_offset)*rand() + settings.fault_sim.min_offset);
sensorSettings.barometer1 = sensorSettings.barometer1.setOffset(offset_value_1); % i don't know the unit of measurment as of now
[sensorSettings.barometer1, fault_time_1] = sensorSettings.barometer1.setErrorTime(); % in seconds
case "degradation"
degradation_value_1 = round((settings.fault_sim.max_degradation-settings.fault_sim.min_degradation)*rand() + settings.fault_sim.min_degradation);
sensorSettings.barometer1 = sensorSettings.barometer1.setDegradation(degradation_value_1); % i don't know the unit of measurment as of now
[sensorSettings.barometer1, fault_time_1] = sensorSettings.barometer1.setErrorTime(); % in seconds
case "freezing"
sensorSettings.barometer1.setFreezing;
[sensorSettings.barometer1, fault_time_1] = sensorSettings.barometer1.setErrorTime(); % in seconds
otherwise
end
%% barometer2 - static measure (HSCMAND001BAAA5)
sensorSettings.barometer2 = Sensor_with_fault_sim(); % presure in mbar, temp should be in C°
sensorSettings.barometer2.maxMeasurementRange = 1000; % 1100, 1300 in mbar
sensorSettings.barometer2.minMeasurementRange = 0; % 300, 10 in mbar
sensorSettings.barometer2.bit = 24; % adc on rocket is 24 bits
sensorSettings.barometer2.resolution = (sensorSettings.barometer2.maxMeasurementRange -sensorSettings.barometer2.minMeasurementRange)/(2^sensorSettings.barometer2.bit);
sensorSettings.barometer2.noiseVariance = 1; % mbar^2
sensorSettings.barometer2.fault_time = -1; %if negative it will be generated at random between a max and a min value
sensorSettings.barometer2.max_fault_time = 96; %max seconds to wait before possible fault
sensorSettings.barometer2.min_fault_time = 6; %min seconds to wait before possible fault
% fault generation
switch settings.fault_sim.fault_type(2)
case "offset"
offset_value_2 = round((settings.fault_sim.max_offset-settings.fault_sim.min_offset)*rand() + settings.fault_sim.min_offset);
sensorSettings.barometer2 = sensorSettings.barometer2.setOffset(offset_value_2); % i don't know the unit of measurment as of now
[sensorSettings.barometer2, fault_time_2] = sensorSettings.barometer2.setErrorTime(); % in seconds
case "degradation"
degradation_value_2 = round((settings.fault_sim.max_degradation-settings.fault_sim.min_degradation)*rand() + settings.fault_sim.min_degradation);
sensorSettings.barometer2 = sensorSettings.barometer2.setDegradation(degradation_value_2); % i don't know the unit of measurment as of now
[sensorSettings.barometer2, fault_time_2] = sensorSettings.barometer2.setErrorTime(); % in seconds
case "freezing"
sensorSettings.barometer2.setFreezing;
[sensorSettings.barometer2, fault_time_2] = sensorSettings.barometer2.setErrorTime(); % in seconds
otherwise
end
%% barometer3 - digital measure (LPS28DFWTR)
sensorSettings.barometer3 = Sensor_no_offset(); % presure in mbar, temp should be in C°
sensorSettings.barometer3 = Sensor_with_fault_sim(); % presure in mbar, temp should be in C°
sensorSettings.barometer3.maxMeasurementRange = 4060; % 1100, 1300 in mbar
sensorSettings.barometer3.minMeasurementRange = 260; % 300, 10 in mbar
sensorSettings.barometer3.bit = 24;
sensorSettings.barometer3.resolution = (sensorSettings.barometer3.maxMeasurementRange -sensorSettings.barometer3.minMeasurementRange)/(2^sensorSettings.barometer3.bit);
sensorSettings.barometer3.noiseVariance = 4.06; % guess in mbar
sensorSettings.barometer3.fault_time = -1; %if negative it will be generated at random between a max and a min value
sensorSettings.barometer3.max_fault_time = 96; %max seconds to wait before possible fault
sensorSettings.barometer3.min_fault_time = 6; %min seconds to wait before possible fault
% fault generation
switch settings.fault_sim.fault_type(3)
case "offset"
offset_value_3 = round((settings.fault_sim.max_offset-settings.fault_sim.min_offset)*rand() + settings.fault_sim.min_offset);
sensorSettings.barometer3 = sensorSettings.barometer3.setOffset(offset_value_3); % i don't know the unit of measurment as of now
[sensorSettings.barometer3, fault_time_3] = sensorSettings.barometer3.setErrorTime(); % in seconds
case "degradation"
degradation_value_3 = round((settings.fault_sim.max_degradation-settings.fault_sim.min_degradation)*rand() + settings.fault_sim.min_degradation);
sensorSettings.barometer3 = sensorSettings.barometer3.setDegradation(degradation_value_3); % i don't know the unit of measurment as of now
[sensorSettings.barometer3, fault_time_3] = sensorSettings.barometer3.setErrorTime(); % in seconds
case "freezing"
sensorSettings.barometer3.setFreezing;
[sensorSettings.barometer3, fault_time_3] = sensorSettings.barometer3.setErrorTime(); % in seconds
otherwise
end
%% accelerometer (6 dof imu - LSM6DSRXTR)
sensorSettings.accelerometer = Sensor3D(); % acceleration in mg
......@@ -98,7 +158,7 @@ sensorSettings.pitot_static.resolution = (sensorSettings.pitot_static.maxMeasure
sensorSettings.pitot_static.noiseVariance = 0.043043; % from flight logs
% total pressure
sensorSettings.pitot_total = Sensor_no_offset();
sensorSettings.pitot_total = Sensor();
sensorSettings.pitot_total.maxMeasurementRange = 2*1034.21; % mbar ( 30psi)
sensorSettings.pitot_total.minMeasurementRange = 0;
sensorSettings.pitot_total.bit = 12;
......
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