diff --git a/bin_delivery/lynx/final/calibration-entry.bin b/bin_delivery/lynx/final/calibration-entry.bin
new file mode 100755
index 0000000000000000000000000000000000000000..8afaafc165f7a17df563c02a30817a1ee4b279a6
Binary files /dev/null and b/bin_delivery/lynx/final/calibration-entry.bin differ
diff --git a/bin_delivery/lynx/final/death-stack-x-entry.bin b/bin_delivery/lynx/final/death-stack-x-entry.bin
new file mode 100755
index 0000000000000000000000000000000000000000..d0bf3278793220569c642971fa055941906b1cec
Binary files /dev/null and b/bin_delivery/lynx/final/death-stack-x-entry.bin differ
diff --git a/bin_delivery/lynx/final/death-stack-x-hil-entry.bin b/bin_delivery/lynx/final/death-stack-x-hil-entry.bin
new file mode 100755
index 0000000000000000000000000000000000000000..52d8c76ee10276196707d635474d06d1576756d7
Binary files /dev/null and b/bin_delivery/lynx/final/death-stack-x-hil-entry.bin differ
diff --git a/bin_delivery/lynx/final/death-stack-x-testsuite.bin b/bin_delivery/lynx/final/death-stack-x-testsuite.bin
new file mode 100755
index 0000000000000000000000000000000000000000..3a43b902ebb2b0f14954a4dea50f74620b7233de
Binary files /dev/null and b/bin_delivery/lynx/final/death-stack-x-testsuite.bin differ
diff --git a/bin_delivery/lynx/final/ramtest.bin b/bin_delivery/lynx/final/ramtest.bin
new file mode 100755
index 0000000000000000000000000000000000000000..7a288a98220a20c0e0a0aded228b1bef3d89c285
Binary files /dev/null and b/bin_delivery/lynx/final/ramtest.bin differ
diff --git a/data/airbrakes/coeffs_euroc.mat b/data/airbrakes/coeffs_euroc.mat
index 12f2d7394288c52b041eeab0b754abfd0e0cc425..388c4c3f8894aa046a00d42478612d0a3b846963 100644
Binary files a/data/airbrakes/coeffs_euroc.mat and b/data/airbrakes/coeffs_euroc.mat differ
diff --git a/data/airbrakes/trajectories_euroc.mat b/data/airbrakes/trajectories_euroc.mat
index e86e8c5d58a09f10641752f00cd147f169dd6d33..807329c0b6e862c3dca297e59343cafb7cc8f898 100644
Binary files a/data/airbrakes/trajectories_euroc.mat and b/data/airbrakes/trajectories_euroc.mat differ
diff --git a/src/boards/DeathStack/AirBrakes/trajectories/TrajectoriesEuroc.h b/src/boards/DeathStack/AirBrakes/trajectories/TrajectoriesEuroc.h
index 51f87f62e572c8ed2901a9f8b89c0d1dfa6fb265..e5f7decd4db8c89c2d732cf76d9f3f72d8ef287f 100644
--- a/src/boards/DeathStack/AirBrakes/trajectories/TrajectoriesEuroc.h
+++ b/src/boards/DeathStack/AirBrakes/trajectories/TrajectoriesEuroc.h
@@ -27,7 +27,7 @@ namespace DeathStackBoard
{
static const unsigned int TOT_TRAJECTORIES = 9;
-static const unsigned int TRAJECTORY_MAX_LENGTH = 381;
+static const unsigned int TRAJECTORY_MAX_LENGTH = 365;
struct point_t
{
@@ -42,1543 +42,1542 @@ struct trajectory_t
};
const trajectory_t TRAJECTORIES_DATA[TOT_TRAJECTORIES] = {
- {381,
+ {365,
{
- {997.611464, 250.000000}, {997.611464, 250.000000},
- {1001.692696, 249.610135}, {1014.143592, 248.425685},
- {1026.535477, 247.249723}, {1038.868771, 246.082051},
- {1051.143885, 244.922481}, {1063.361218, 243.770830},
- {1075.521161, 242.626926}, {1087.624100, 241.490603},
- {1099.670407, 240.361704}, {1111.660452, 239.240077},
- {1123.594593, 238.125576}, {1135.473184, 237.018062},
- {1147.296571, 235.917401}, {1159.065092, 234.823464},
- {1170.779082, 233.736129}, {1182.438867, 232.655275},
- {1194.044769, 231.580789}, {1205.597103, 230.512559},
- {1217.096178, 229.450480}, {1228.542302, 228.394448},
- {1239.935772, 227.344365}, {1251.276884, 226.300134},
- {1262.565929, 225.261663}, {1273.803192, 224.228861},
- {1284.988955, 223.201644}, {1296.123494, 222.179925},
- {1307.207083, 221.163623}, {1318.239990, 220.152660},
- {1329.222480, 219.146958}, {1340.154815, 218.146443},
- {1351.037253, 217.151042}, {1361.870046, 216.160685},
- {1372.653445, 215.175303}, {1383.387699, 214.194829},
- {1394.073049, 213.219199}, {1404.709738, 212.248349},
- {1415.298002, 211.282217}, {1425.838076, 210.320742},
- {1436.330191, 209.363867}, {1446.774576, 208.411534},
- {1457.171457, 207.463686}, {1467.521056, 206.520269},
- {1477.823593, 205.581230}, {1488.079287, 204.646515},
- {1498.288352, 203.716073}, {1508.451000, 202.789855},
- {1518.567442, 201.867811}, {1528.637884, 200.949893},
- {1538.662533, 200.036054}, {1548.641590, 199.126247},
- {1558.575257, 198.220427}, {1568.463732, 197.318550},
- {1578.307210, 196.420571}, {1588.105885, 195.526449},
- {1597.859950, 194.636141}, {1607.569593, 193.749605},
- {1617.235004, 192.866801}, {1626.856366, 191.987689},
- {1636.433864, 191.112230}, {1645.967679, 190.240385},
- {1655.457992, 189.372116}, {1664.904979, 188.507386},
- {1674.308818, 187.646159}, {1683.669682, 186.788397},
- {1692.987743, 185.934066}, {1702.263173, 185.083130},
- {1711.496140, 184.235554}, {1720.686812, 183.391306},
- {1729.835353, 182.550351}, {1738.941928, 181.712657},
- {1748.006700, 180.878190}, {1757.029827, 180.046919},
- {1766.011471, 179.218813}, {1774.951787, 178.393840},
- {1783.850932, 177.571969}, {1792.709061, 176.753170},
- {1801.526325, 175.937413}, {1810.302877, 175.124669},
- {1819.038867, 174.314909}, {1827.734442, 173.508104},
- {1836.389750, 172.704226}, {1845.004937, 171.903246},
- {1853.580147, 171.105137}, {1862.115522, 170.309873},
- {1870.611204, 169.517426}, {1879.067334, 168.727769},
- {1887.484050, 167.940876}, {1895.861490, 167.156722},
- {1904.199790, 166.375281}, {1912.499086, 165.596527},
- {1920.759510, 164.820437}, {1928.981195, 164.046984},
- {1937.164273, 163.276145}, {1945.308874, 162.507896},
- {1953.415127, 161.742212}, {1961.483159, 160.979072},
- {1969.513097, 160.218450}, {1977.505067, 159.460325},
- {1985.459192, 158.704673}, {1993.375595, 157.951473},
- {2001.254400, 157.200701}, {2009.095726, 156.452337},
- {2016.899693, 155.706359}, {2024.666421, 154.962744},
- {2032.396026, 154.221473}, {2040.088626, 153.482524},
- {2047.744336, 152.745876}, {2055.363271, 152.011509},
- {2062.945543, 151.279402}, {2070.491267, 150.549537},
- {2078.000553, 149.821892}, {2085.473511, 149.096449},
- {2092.910252, 148.373187}, {2100.310884, 147.652089},
- {2107.675514, 146.933134}, {2115.004250, 146.216304},
- {2122.297198, 145.501581}, {2129.554461, 144.788947},
- {2136.776144, 144.078382}, {2143.962350, 143.369870},
- {2151.113182, 142.663391}, {2158.228740, 141.958930},
- {2165.309125, 141.256468}, {2172.354436, 140.555988},
- {2179.364773, 139.857474}, {2186.340232, 139.160907},
- {2193.280912, 138.466273}, {2200.186907, 137.773553},
- {2207.058315, 137.082732}, {2213.895228, 136.393793},
- {2220.697741, 135.706721}, {2227.465946, 135.021500},
- {2234.199936, 134.338114}, {2240.899803, 133.656547},
- {2247.565636, 132.976784}, {2254.197526, 132.298810},
- {2260.795562, 131.622610}, {2267.359831, 130.948168},
- {2273.890422, 130.275471}, {2280.387421, 129.604503},
- {2286.850915, 128.935249}, {2293.280989, 128.267697},
- {2299.677727, 127.601830}, {2306.041214, 126.937636},
- {2312.371532, 126.275100}, {2318.668765, 125.614209},
- {2324.932994, 124.954948}, {2331.164300, 124.297305},
- {2337.362764, 123.641266}, {2343.528466, 122.986817},
- {2349.661485, 122.333945}, {2355.761900, 121.682638},
- {2361.829788, 121.032882}, {2367.865227, 120.384665},
- {2373.868293, 119.737974}, {2379.839062, 119.092797},
- {2385.777610, 118.449120}, {2391.684011, 117.806932},
- {2397.558340, 117.166221}, {2403.400670, 116.526973},
- {2409.211074, 115.889179}, {2414.989624, 115.252824},
- {2420.736392, 114.617898}, {2426.451449, 113.984390},
- {2432.134866, 113.352286}, {2437.786713, 112.721577},
- {2443.407058, 112.092250}, {2448.995972, 111.464295},
- {2454.553522, 110.837700}, {2460.079776, 110.212454},
- {2465.574801, 109.588546}, {2471.038663, 108.965966},
- {2476.471430, 108.344702}, {2481.873166, 107.724744},
- {2487.243937, 107.106081}, {2492.583806, 106.488703},
- {2497.892839, 105.872600}, {2503.171098, 105.257760},
- {2508.418646, 104.644175}, {2513.635546, 104.031833},
- {2518.821860, 103.420725}, {2523.977650, 102.810841},
- {2529.102975, 102.202170}, {2534.197897, 101.594704},
- {2539.262475, 100.988431}, {2544.296769, 100.383344},
- {2549.300839, 99.779432}, {2554.274742, 99.176685},
- {2559.218536, 98.575095}, {2564.132280, 97.974651},
- {2569.016030, 97.375346}, {2573.869843, 96.777169},
- {2578.693775, 96.180111}, {2583.487882, 95.584164},
- {2588.252219, 94.989319}, {2592.986841, 94.395566},
- {2597.691802, 93.802897}, {2602.367157, 93.211303},
- {2607.012959, 92.620775}, {2611.629261, 92.031306},
- {2616.216116, 91.442885}, {2620.773576, 90.855506},
- {2625.301692, 90.269160}, {2629.800517, 89.683837},
- {2634.270102, 89.099531}, {2638.710496, 88.516232},
- {2643.121750, 87.933933}, {2647.503914, 87.352626},
- {2651.857037, 86.772302}, {2656.181168, 86.192954},
- {2660.476357, 85.614574}, {2664.742650, 85.037154},
- {2668.980096, 84.460686}, {2673.188742, 83.885163},
- {2677.368635, 83.310577}, {2681.519823, 82.736920},
- {2685.642351, 82.164185}, {2689.736264, 81.592365},
- {2693.801610, 81.021452}, {2697.838432, 80.451438},
- {2701.846776, 79.882317}, {2705.826686, 79.314082},
- {2709.778206, 78.746724}, {2713.701380, 78.180237},
- {2717.596251, 77.614614}, {2721.462863, 77.049849},
- {2725.301257, 76.485933}, {2729.111477, 75.922860},
- {2732.893564, 75.360623}, {2736.647560, 74.799216},
- {2740.373506, 74.238631}, {2744.071444, 73.678863},
- {2747.741413, 73.119903}, {2751.383454, 72.561747},
- {2754.997608, 72.004387}, {2758.583913, 71.447816},
- {2762.142409, 70.892029}, {2765.673135, 70.337018},
- {2769.176130, 69.782779}, {2772.651432, 69.229303},
- {2776.099079, 68.676586}, {2779.519109, 68.124620},
- {2782.911560, 67.573400}, {2786.276468, 67.022919},
- {2789.613870, 66.473172}, {2792.923803, 65.924153},
- {2796.206303, 65.375855}, {2799.461406, 64.828272},
- {2802.689148, 64.281400}, {2805.889564, 63.735231},
- {2809.062689, 63.189760}, {2812.208557, 62.644982},
- {2815.327204, 62.100890}, {2818.418663, 61.557480},
- {2821.482969, 61.014745}, {2824.520155, 60.472679},
- {2827.530254, 59.931278}, {2830.513299, 59.390536},
- {2833.469324, 58.850448}, {2836.398360, 58.311007},
- {2839.300440, 57.772209}, {2842.175597, 57.234048},
- {2845.023861, 56.696520}, {2847.845264, 56.159618},
- {2850.639838, 55.623338}, {2853.407614, 55.087675},
- {2856.148621, 54.552623}, {2858.862891, 54.018177},
- {2861.550454, 53.484333}, {2864.211339, 52.951086},
- {2866.845577, 52.418430}, {2869.453197, 51.886360},
- {2872.034228, 51.354872}, {2874.588699, 50.823961},
- {2877.116638, 50.293623}, {2879.618075, 49.763852},
- {2882.093037, 49.234643}, {2884.541553, 48.705993},
- {2886.963651, 48.177896}, {2889.359357, 47.650348},
- {2891.728699, 47.123345}, {2894.071705, 46.596882},
- {2896.388401, 46.070954}, {2898.678813, 45.545557},
- {2900.942969, 45.020687}, {2903.180895, 44.496339},
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- {2909.737548, 42.926388}, {2911.870810, 42.404087},
- {2913.977970, 41.882288}, {2916.059052, 41.360986},
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+ {1677.104937, 182.995256}, {1686.234599, 182.191235},
+ {1695.324134, 181.390148}, {1704.373687, 180.591968},
+ {1713.383403, 179.796668}, {1722.353425, 179.004220},
+ {1731.283895, 178.214599}, {1740.174955, 177.427778},
+ {1749.026742, 176.643732}, {1757.839397, 175.862436},
+ {1766.613054, 175.083863}, {1775.347850, 174.307990},
+ {1784.043920, 173.534792}, {1792.701396, 172.764245},
+ {1801.320410, 171.996324}, {1809.901093, 171.231006},
+ {1818.443575, 170.468267}, {1826.947984, 169.708085},
+ {1835.414447, 168.950435}, {1843.843090, 168.195297},
+ {1852.234039, 167.442647}, {1860.587417, 166.692463},
+ {1868.903346, 165.944724}, {1877.181950, 165.199407},
+ {1885.423347, 164.456491}, {1893.627658, 163.715956},
+ {1901.795002, 162.977779}, {1909.925495, 162.241942},
+ {1918.019254, 161.508422}, {1926.076394, 160.777199},
+ {1934.097031, 160.048255}, {1942.081276, 159.321568},
+ {1950.029243, 158.597119}, {1957.941043, 157.874890},
+ {1965.816787, 157.154860}, {1973.656584, 156.437010},
+ {1981.460542, 155.721323}, {1989.228770, 155.007778},
+ {1996.961373, 154.296359}, {2004.658458, 153.587046},
+ {2012.320130, 152.879822}, {2019.946492, 152.174669},
+ {2027.537648, 151.471569}, {2035.093700, 150.770505},
+ {2042.614749, 150.071459}, {2050.100896, 149.374415},
+ {2057.552240, 148.679355}, {2064.968881, 147.986263},
+ {2072.350915, 147.295122}, {2079.698441, 146.605915},
+ {2087.011555, 145.918627}, {2094.290352, 145.233242},
+ {2101.534926, 144.549743}, {2108.745373, 143.868114},
+ {2115.921784, 143.188341}, {2123.064253, 142.510407},
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+ {2999.803734, 1.963136}, {2999.889614, 1.472067},
+ {2999.950945, 0.981189}, {2999.987737, 0.490500},
{2999.998745, 0.156943}, {2999.999950, 0.031348},
{2999.999998, 0.006229}, {3000.000000, 0.001206},
{3000.000000, 0.000201}, {3000.000000, 0.000000},
diff --git a/src/boards/DeathStack/configs/AirBrakesConfig.h b/src/boards/DeathStack/configs/AirBrakesConfig.h
index f0d4ac6161e8fd043ef08e3018c1149217c5c101..002231b6831d5624cf16bc7d951edf489959bfa5 100644
--- a/src/boards/DeathStack/configs/AirBrakesConfig.h
+++ b/src/boards/DeathStack/configs/AirBrakesConfig.h
@@ -42,7 +42,7 @@ static constexpr PWMChannel AB_SERVO_PWM_CH = PWMChannel::CH2;
#ifdef EUROC
static constexpr float M = 27.0; /**< rocket's mass */
#else
-static constexpr float M = 18.362; /**< rocket's mass */
+static constexpr float M = 18.362; /**< rocket's mass */
#endif
static constexpr float D = 0.15; /**< rocket's diameter */
@@ -87,7 +87,7 @@ static constexpr float FILTER_COEFF = 0.9;
#ifdef HARDWARE_IN_THE_LOOP
static constexpr float ABK_UPDATE_PERIOD = 0.1 * 1000; // ms -> 10 Hz
#else
-static constexpr float ABK_UPDATE_PERIOD = 0.05 * 1000; // ms -> 20 Hz
+static constexpr float ABK_UPDATE_PERIOD = 0.05 * 1000; // ms -> 20 Hz
#endif
static constexpr float ABK_UPDATE_PERIOD_SECONDS = ABK_UPDATE_PERIOD / 1000;
@@ -103,26 +103,26 @@ static constexpr int SHADOW_MODE_DURATION = 3.5 * 1000;
#ifdef EUROC
struct Coefficients
{
- float n000 = 0.4912038462193552;
- float n100 = -1.2829337399401595;
- float n200 = 5.4496525366603175;
- float n300 = -14.373489732912505;
- float n400 = 23.041565019164537;
- float n500 = -20.665098183955564;
- float n600 = 7.781756180733372;
- float n010 = 8.578612850167778;
- float n020 = 139.0917211542655;
- float n110 = 0.7488030083983109;
- float n120 = -143.1155855707458;
- float n210 = 85.43971374816863;
- float n220 = 1012.1982268667119;
- float n310 = -318.72827049284604;
- float n320 = -3465.8287321207386;
- float n410 = 465.76527224155507;
- float n420 = 5018.865244618964;
- float n510 = -216.65938340162148;
- float n520 = -2334.271751434503;
- float n001 = 2.7225033263675867e-06;
+ float n000 = 0.48691724895766536;
+ float n100 = -1.0201967915455747;
+ float n200 = 3.1601195121881624;
+ float n300 = -5.207372520459633;
+ float n400 = 5.348364517420158;
+ float n500 = -4.6411809574995235;
+ float n600 = 2.410373760485268;
+ float n010 = 8.065292810990796;
+ float n020 = 143.73493969843133;
+ float n110 = 1.231780014534557;
+ float n120 = -130.29216244392964;
+ float n210 = 68.58740070791052;
+ float n220 = 1073.263262818047;
+ float n310 = -259.68709984180873;
+ float n320 = -3750.7093392408874;
+ float n410 = 385.3808010115668;
+ float n420 = 5464.924806439974;
+ float n510 = -180.76701763197605;
+ float n520 = -2554.179469197033;
+ float n001 = 2.7555579144973302e-06;
};
#else
struct Coefficients