From e144229896fd59e0b2101b30fc711556e469b47c Mon Sep 17 00:00:00 2001
From: Emilio Corigliano <emilio.corigliano@skywarder.eu>
Date: Wed, 29 Nov 2023 19:20:24 +0100
Subject: [PATCH] [HIL][Parafoil] Fixed MEA execution during parafoil
simulation
---
.../src/std_run_parts/std_hardwareInTheLoop.m | 38 ++++++++-----------
1 file changed, 16 insertions(+), 22 deletions(-)
diff --git a/simulator/src/std_run_parts/std_hardwareInTheLoop.m b/simulator/src/std_run_parts/std_hardwareInTheLoop.m
index 24bd1d41..28b9c96f 100644
--- a/simulator/src/std_run_parts/std_hardwareInTheLoop.m
+++ b/simulator/src/std_run_parts/std_hardwareInTheLoop.m
@@ -143,33 +143,27 @@ if ~settings.parafoil
end
else
if contains(settings.mission,'_2023')
- if Tf(end) <= settings.tb+0.5 &&...
- (strcmp(contSettings.algorithm,'engine') || strcmp(contSettings.algorithm,'complete'))
+ if (strcmp(contSettings.algorithm,'engine') || strcmp(contSettings.algorithm,'complete'))
if isnan(sensorTot.comb_chamber.measures(end))
sensorTot.comb_chamber.measures(end) = 0;
end
if ~settings.shutdown
- [t_shutdown,settings,contSettings,sensorData] =run_MTR_SIM (contSettings,sensorData,settings,sensorTot,Tf);
- m = sensorData.mea.estimated_mass(end);
- sensorTot.mea.pressure(iTimes) = sensorData.mea.estimated_pressure;
- sensorTot.mea.mass(iTimes) = sensorData.mea.estimated_mass;
- sensorTot.mea.prediction(iTimes) = sensorData.mea.predicted_apogee;
- sensorTot.mea.t_shutdown = t_shutdown;
- sensorTot.mea.time(iTimes) = t1;
- end
-
- if ~settings.shutdown && Tf(end) >= settings.tb
- t_shutdown = settings.tb;
- settings.expShutdown = 1;
- settings.timeEngineCut = t_shutdown;
- settings.expTimeEngineCut = t_shutdown;
- settings.expMengineCut = m - settings.ms;
- settings.shutdown = 1;
- settings = settingsEngineCut(settings);
- settings.quatCut = [sensorTot.nas.states(end,10) sensorTot.nas.states(end, 7:9)]; % why do we take the nas ones and not the simulation ones?
- [~,settings.pitchCut,~] = quat2angle(settings.quatCut,'ZYX');
- sensorTot.mea.t_shutdown = t_shutdown; % to pass the value out of the std_run to the structOut
+ [sensorData,sensorTot,settings,contSettings] =run_MTR_SIM (sensorData,sensorTot,settings,contSettings,t1);
+ sensorTot.mea.t_shutdown = settings.t_shutdown;
+
+ if Tf(end) >= settings.tb
+ settings.expShutdown = true;
+ settings.shutdown = true;
+ settings.t_shutdown = settings.tb;
+ settings.timeEngineCut = settings.t_shutdown;
+ settings.expTimeEngineCut = settings.t_shutdown;
+ % settings.expMengineCut = settings.parout.m(end) - settings.ms;
+ % settings = settingsEngineCut(settings);
+ settings.quatCut = [sensorTot.nas.states(end,10) sensorTot.nas.states(end, 7:9)]; % why do we take the nas ones and not the simulation ones?
+ [~,settings.pitchCut,~] = quat2angle(settings.quatCut,'ZYX');
+ sensorTot.mea.t_shutdown = settings.t_shutdown; % to pass the value out of the std_run to the structOut
+ end
end
elseif ~(strcmp(contSettings.algorithm,'engine') || strcmp(contSettings.algorithm,'complete')) && Tf(end) > settings.tb
settings.shutdown = 1;
--
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