diff --git a/src/boards/Main/Configs/ADAConfig.h b/src/boards/Main/Configs/ADAConfig.h
index 0fc32e89b5d1f997b93ad39f361dd0fb6adf4393..1f5b58aceb01be5316e7ffcaa1610063d2a6c884 100644
--- a/src/boards/Main/Configs/ADAConfig.h
+++ b/src/boards/Main/Configs/ADAConfig.h
@@ -40,7 +40,7 @@ namespace ADA
constexpr Hertz UPDATE_RATE = 50_hz;
constexpr float UPDATE_RATE_SECONDS = 0.02; // [s]
-constexpr unsigned int SHADOW_MODE_TIMEOUT = 9000; // [ms]
+constexpr unsigned int SHADOW_MODE_TIMEOUT = 13000; // [ms]
constexpr float APOGEE_VERTICAL_SPEED_TARGET = 2.5; // [m/s]
constexpr unsigned int APOGEE_N_SAMPLES = 5;
diff --git a/src/boards/Main/Configs/FMMConfig.h b/src/boards/Main/Configs/FMMConfig.h
index a6b0d4b99448b191c0e1d764dd1adc754bad41b6..04ce8d7498190d5a1d8eb976a1fdd98241bd41e6 100644
--- a/src/boards/Main/Configs/FMMConfig.h
+++ b/src/boards/Main/Configs/FMMConfig.h
@@ -36,7 +36,7 @@ constexpr unsigned int MISSION_TIMEOUT = 15 * 60 * 1000;
constexpr unsigned int ENGINE_SHUTDOWN_TIMEOUT = 6000;
-constexpr unsigned int APOGEE_TIMEOUT = 35 * 1000;
+constexpr unsigned int APOGEE_TIMEOUT = 28 * 1000;
constexpr unsigned int CUT_DURATION = 500; // [ms]
diff --git a/src/boards/Main/Configs/MEAConfig.h b/src/boards/Main/Configs/MEAConfig.h
index 994d403f110ddcafdd62efdc54205100a477a30f..cd615a54235d4d86621d21dc11a0505edeb1f9e0 100644
--- a/src/boards/Main/Configs/MEAConfig.h
+++ b/src/boards/Main/Configs/MEAConfig.h
@@ -47,13 +47,13 @@ constexpr float SHUTDOWN_APOGEE_TARGET = 800; // agl [m]
#ifndef EUROC
#warning "MISSION NOT DEFINED: Using EUROC"
#endif
-constexpr unsigned int SHADOW_MODE_TIMEOUT = 3000; // [ms]
-constexpr float DEFAULT_INITIAL_ROCKET_MASS = 33.69f; // [kg]
+constexpr unsigned int SHADOW_MODE_TIMEOUT = 2600; // [ms]
+constexpr float DEFAULT_INITIAL_ROCKET_MASS = 33.87f; // [kg]
constexpr float SHUTDOWN_APOGEE_TARGET = 3200; // agl [m]
#endif
constexpr float CD_CORRECTION_FACTOR =
- 2.69f; // Completely random number (for now... i hope)
+ 1.0f; // Completely random number (for now... i hope)
constexpr unsigned int SHUTDOWN_N_SAMPLES = 5;
@@ -61,7 +61,7 @@ constexpr float SENSOR_NOISE_VARIANCE = 0.36f;
constexpr float MODEL_NOISE_VARIANCE = 1.0f;
// Pressure threshold after which the kalman is updated
-constexpr float CC_PRESSURE_THRESHOLD = 1.f; // [bar]
+constexpr float CC_PRESSURE_THRESHOLD = 1.0f; // [bar]
constexpr Boardcore::Aeroutils::AerodynamicCoeff AERO_COEFF = {
.n000 = 0.476899999999981f,
diff --git a/src/boards/Main/Configs/NASConfig.h b/src/boards/Main/Configs/NASConfig.h
index c947586ea4abfa305fdffefd6070e702cda7402b..82e5ab80f0a68a74fdbb3d59b28afc6494911aee 100644
--- a/src/boards/Main/Configs/NASConfig.h
+++ b/src/boards/Main/Configs/NASConfig.h
@@ -49,8 +49,8 @@ static const Boardcore::NASConfig CONFIG = {
.SIGMA_W = 0.0019,
.SIGMA_ACC = 0.202,
.SIGMA_MAG = 0.0047,
- .SIGMA_GPS = {0.0447f, 0.0447f, 0.1f / 30.0f, 0.1f / 30.0f},
- .SIGMA_BAR = 4.5097,
+ .SIGMA_GPS = {0.0447f, 0.0447f, 1.0f / 30.0f, 1.0f / 30.0f},
+ .SIGMA_BAR = 400.0f,
.SIGMA_POS = 2.0,
.SIGMA_VEL = 1.0,
.SIGMA_PITOT = 1e-3,
diff --git a/src/boards/Main/Data/ABKTrajectorySet.cpp b/src/boards/Main/Data/ABKTrajectorySet.cpp
index 0c992a59e59717d3dfc879849043bcda837e6a95..c8ebef400f5d14926143611d5cfa43a7c32a5e6d 100644
--- a/src/boards/Main/Data/ABKTrajectorySet.cpp
+++ b/src/boards/Main/Data/ABKTrajectorySet.cpp
@@ -495,6674 +495,6676 @@ TrajectorySet Main::Data::ABK::OPEN_TRAJECTORY_SET(t_open, 2);
#ifndef EUROC
#warning "MISSION NOT DEFINED: Using EUROC"
#endif
-// =============================================
-// WARNING: GEMINI ROCCARASO TRAJECTORIES
-// REMOVE THESE!!!
-// =============================================
+//['Heights ', 'Vz_closed_m26 ', 'Vz_closed_m26_4 ', 'Vz_closed_m26_8 ',
+//'Vz_closed_m27_2 ', 'Vz_closed_m27_6 ', 'Vz_closed_m28 ', 'Vz_closed_m28_4 ',
+//'Vz_closed_m28_8 ', 'Vz_closed_m29_2 ', 'Vz_closed_m29_6 ', 'Vz_closed_m30 ',
+//'Vz_open_m26 ', 'Vz_open_m26_4 ', 'Vz_open_m26_8 ', 'Vz_open_m27_2 ',
+//'Vz_open_m27_6 ', 'Vz_open_m28 ', 'Vz_open_m28_4 ', 'Vz_open_m28_8 ',
+//'Vz_open_m29_2 ', 'Vz_open_m29_6 ', 'Vz_open_m30 ']
TrajectoryPoint t0_closed[] = {
- TrajectoryPoint(0, 291.697688278318),
- TrajectoryPoint(10, 290.984535447996),
- TrajectoryPoint(20, 290.272554676878),
- TrajectoryPoint(30, 289.561766863639),
- TrajectoryPoint(40, 288.852030395801),
- TrajectoryPoint(50, 288.143059351263),
- TrajectoryPoint(60, 287.435031702346),
- TrajectoryPoint(70, 286.728110939376),
- TrajectoryPoint(80, 286.021892458837),
- TrajectoryPoint(90, 285.316377182964),
- TrajectoryPoint(100, 284.612028614926),
- TrajectoryPoint(110, 283.908322286167),
- TrajectoryPoint(120, 283.205255534554),
- TrajectoryPoint(130, 282.50308711451),
- TrajectoryPoint(140, 281.801667911645),
- TrajectoryPoint(150, 281.1008305958),
- TrajectoryPoint(160, 280.400637653825),
- TrajectoryPoint(170, 279.701294671578),
- TrajectoryPoint(180, 279.002478787265),
- TrajectoryPoint(190, 278.304185227024),
- TrajectoryPoint(200, 277.606610031429),
- TrajectoryPoint(210, 276.909620330855),
- TrajectoryPoint(220, 276.213100610647),
- TrajectoryPoint(230, 275.517059820918),
- TrajectoryPoint(240, 274.82171272541),
- TrajectoryPoint(250, 274.126785845519),
- TrajectoryPoint(260, 273.43227319665),
- TrajectoryPoint(270, 272.738247390128),
- TrajectoryPoint(280, 272.044742814953),
- TrajectoryPoint(290, 271.351605000273),
- TrajectoryPoint(300, 270.658827282562),
- TrajectoryPoint(310, 269.966503330181),
- TrajectoryPoint(320, 269.274581563642),
- TrajectoryPoint(330, 268.582974629793),
- TrajectoryPoint(340, 267.891675380714),
- TrajectoryPoint(350, 267.200770381043),
- TrajectoryPoint(360, 266.510185961775),
- TrajectoryPoint(370, 265.819866035091),
- TrajectoryPoint(380, 265.129803108316),
- TrajectoryPoint(390, 264.440060197535),
- TrajectoryPoint(400, 263.750580678499),
- TrajectoryPoint(410, 263.061316875416),
- TrajectoryPoint(420, 262.372261048453),
- TrajectoryPoint(430, 261.683445809333),
- TrajectoryPoint(440, 260.994850482844),
- TrajectoryPoint(450, 260.306423575181),
- TrajectoryPoint(460, 259.618157164805),
- TrajectoryPoint(470, 258.93005453962),
- TrajectoryPoint(480, 258.242133161705),
- TrajectoryPoint(490, 257.554334259916),
- TrajectoryPoint(500, 256.866649771936),
- TrajectoryPoint(510, 256.179071425476),
- TrajectoryPoint(520, 255.491612941993),
- TrajectoryPoint(530, 254.80424221825),
- TrajectoryPoint(540, 254.116941049339),
- TrajectoryPoint(550, 253.429701072041),
- TrajectoryPoint(560, 252.742514410224),
- TrajectoryPoint(570, 252.055379875809),
- TrajectoryPoint(580, 251.368271078778),
- TrajectoryPoint(590, 250.681179566394),
- TrajectoryPoint(600, 249.99409673583),
- TrajectoryPoint(610, 249.307013259786),
- TrajectoryPoint(620, 248.619912378961),
- TrajectoryPoint(630, 247.932785721418),
- TrajectoryPoint(640, 247.245624600031),
- TrajectoryPoint(650, 246.558420198845),
- TrajectoryPoint(660, 245.871163580697),
- TrajectoryPoint(670, 245.183824700715),
- TrajectoryPoint(680, 244.496407515798),
- TrajectoryPoint(690, 243.808904442685),
- TrajectoryPoint(700, 243.121306454657),
- TrajectoryPoint(710, 242.433604414687),
- TrajectoryPoint(720, 241.745776514132),
- TrajectoryPoint(730, 241.057801409348),
- TrajectoryPoint(740, 240.369689078822),
- TrajectoryPoint(750, 239.681430271073),
- TrajectoryPoint(760, 238.993015629897),
- TrajectoryPoint(770, 238.30443569757),
- TrajectoryPoint(780, 237.61566492373),
- TrajectoryPoint(790, 236.926679238592),
- TrajectoryPoint(800, 236.237495318523),
- TrajectoryPoint(810, 235.548103559551),
- TrajectoryPoint(820, 234.858494256803),
- TrajectoryPoint(830, 234.16865760621),
- TrajectoryPoint(840, 233.478583705918),
- TrajectoryPoint(850, 232.788224228347),
- TrajectoryPoint(860, 232.097591757854),
- TrajectoryPoint(870, 231.406688953627),
- TrajectoryPoint(880, 230.715505725166),
- TrajectoryPoint(890, 230.024031880883),
- TrajectoryPoint(900, 229.332257128576),
- TrajectoryPoint(910, 228.640171075695),
- TrajectoryPoint(920, 227.94775068442),
- TrajectoryPoint(930, 227.254954930989),
- TrajectoryPoint(940, 226.561814303897),
- TrajectoryPoint(950, 225.868318174168),
- TrajectoryPoint(960, 225.174455806958),
- TrajectoryPoint(970, 224.480216361252),
- TrajectoryPoint(980, 223.785588889414),
- TrajectoryPoint(990, 223.090562336636),
- TrajectoryPoint(1000, 222.395125540258),
- TrajectoryPoint(1010, 221.699255543157),
- TrajectoryPoint(1020, 221.002910978018),
- TrajectoryPoint(1030, 220.306121420704),
- TrajectoryPoint(1040, 219.60887541045),
- TrajectoryPoint(1050, 218.911161371448),
- TrajectoryPoint(1060, 218.212967611875),
- TrajectoryPoint(1070, 217.514282322845),
- TrajectoryPoint(1080, 216.8150935773),
- TrajectoryPoint(1090, 216.115389328827),
- TrajectoryPoint(1100, 215.415157410421),
- TrajectoryPoint(1110, 214.714385533196),
- TrajectoryPoint(1120, 214.013061285041),
- TrajectoryPoint(1130, 213.311172129224),
- TrajectoryPoint(1140, 212.608673742036),
- TrajectoryPoint(1150, 211.905576887698),
- TrajectoryPoint(1160, 211.201877731975),
- TrajectoryPoint(1170, 210.497563350611),
- TrajectoryPoint(1180, 209.792620686413),
- TrajectoryPoint(1190, 209.087036547734),
- TrajectoryPoint(1200, 208.380797606912),
- TrajectoryPoint(1210, 207.673890398689),
- TrajectoryPoint(1220, 206.966301318579),
- TrajectoryPoint(1230, 206.258016621218),
- TrajectoryPoint(1240, 205.549022418667),
- TrajectoryPoint(1250, 204.839304678699),
- TrajectoryPoint(1260, 204.128849223041),
- TrajectoryPoint(1270, 203.417641725602),
- TrajectoryPoint(1280, 202.705667710654),
- TrajectoryPoint(1290, 201.992912551),
- TrajectoryPoint(1300, 201.279361466101),
- TrajectoryPoint(1310, 200.564999520181),
- TrajectoryPoint(1320, 199.849811620298),
- TrajectoryPoint(1330, 199.133782514392),
- TrajectoryPoint(1340, 198.416896789296),
- TrajectoryPoint(1350, 197.699138868718),
- TrajectoryPoint(1360, 196.980493011203),
- TrajectoryPoint(1370, 196.260943308046),
- TrajectoryPoint(1380, 195.540473681187),
- TrajectoryPoint(1390, 194.819067881072),
- TrajectoryPoint(1400, 194.096709484473),
- TrajectoryPoint(1410, 193.373381892281),
- TrajectoryPoint(1420, 192.649068327263),
- TrajectoryPoint(1430, 191.923751831781),
- TrajectoryPoint(1440, 191.197415265473),
- TrajectoryPoint(1450, 190.470041302905),
- TrajectoryPoint(1460, 189.741612431169),
- TrajectoryPoint(1470, 189.012110947453),
- TrajectoryPoint(1480, 188.281518956566),
- TrajectoryPoint(1490, 187.549818368419),
- TrajectoryPoint(1500, 186.816952567424),
- TrajectoryPoint(1510, 186.082905678569),
- TrajectoryPoint(1520, 185.347689154617),
- TrajectoryPoint(1530, 184.611283957458),
- TrajectoryPoint(1540, 183.873670839394),
- TrajectoryPoint(1550, 183.134830340299),
- TrajectoryPoint(1560, 182.394742784713),
- TrajectoryPoint(1570, 181.653388278888),
- TrajectoryPoint(1580, 180.910746707778),
- TrajectoryPoint(1590, 180.166797731971),
- TrajectoryPoint(1600, 179.421520784558),
- TrajectoryPoint(1610, 178.674808817941),
- TrajectoryPoint(1620, 177.926676784425),
- TrajectoryPoint(1630, 177.177146378547),
- TrajectoryPoint(1640, 176.426195929864),
- TrajectoryPoint(1650, 175.67380352185),
- TrajectoryPoint(1660, 174.919946988324),
- TrajectoryPoint(1670, 174.164603909805),
- TrajectoryPoint(1680, 173.407715382908),
- TrajectoryPoint(1690, 172.649146178947),
- TrajectoryPoint(1700, 171.889013057377),
- TrajectoryPoint(1710, 171.127292370435),
- TrajectoryPoint(1720, 170.363960195215),
- TrajectoryPoint(1730, 169.598992329481),
- TrajectoryPoint(1740, 168.832310429993),
- TrajectoryPoint(1750, 168.063764499078),
- TrajectoryPoint(1760, 167.293498806744),
- TrajectoryPoint(1770, 166.521487795767),
- TrajectoryPoint(1780, 165.747705604384),
- TrajectoryPoint(1790, 164.972080733082),
- TrajectoryPoint(1800, 164.194399148115),
- TrajectoryPoint(1810, 163.414856083536),
- TrajectoryPoint(1820, 162.633424199322),
- TrajectoryPoint(1830, 161.850075822372),
- TrajectoryPoint(1840, 161.064556645122),
- TrajectoryPoint(1850, 160.276961344482),
- TrajectoryPoint(1860, 159.487352451706),
- TrajectoryPoint(1870, 158.695700675387),
- TrajectoryPoint(1880, 157.901720616709),
- TrajectoryPoint(1890, 157.105519268063),
- TrajectoryPoint(1900, 156.307171866083),
- TrajectoryPoint(1910, 155.506626385401),
- TrajectoryPoint(1920, 154.703483224839),
- TrajectoryPoint(1930, 153.89808575136),
- TrajectoryPoint(1940, 153.090401455257),
- TrajectoryPoint(1950, 152.280087885851),
- TrajectoryPoint(1960, 151.467267063182),
- TrajectoryPoint(1970, 150.652044175097),
- TrajectoryPoint(1980, 149.834109418323),
- TrajectoryPoint(1990, 149.013471914356),
- TrajectoryPoint(2000, 148.190311224522),
- TrajectoryPoint(2010, 147.364252189324),
- TrajectoryPoint(2020, 146.535383279066),
- TrajectoryPoint(2030, 145.703863786175),
- TrajectoryPoint(2040, 144.869143927633),
- TrajectoryPoint(2050, 144.031606027675),
- TrajectoryPoint(2060, 143.191114848679),
- TrajectoryPoint(2070, 142.347330408586),
- TrajectoryPoint(2080, 141.500661472084),
- TrajectoryPoint(2090, 140.650526550284),
- TrajectoryPoint(2100, 139.797269614436),
- TrajectoryPoint(2110, 138.940659933022),
- TrajectoryPoint(2120, 138.08056305132),
- TrajectoryPoint(2130, 137.217170605551),
- TrajectoryPoint(2140, 136.349970986925),
- TrajectoryPoint(2150, 135.479471796961),
- TrajectoryPoint(2160, 134.604895213864),
- TrajectoryPoint(2170, 133.726945074672),
- TrajectoryPoint(2180, 132.844708576594),
- TrajectoryPoint(2190, 131.958955479211),
- TrajectoryPoint(2200, 131.068753317653),
- TrajectoryPoint(2210, 130.174816309537),
- TrajectoryPoint(2220, 129.27633929721),
- TrajectoryPoint(2230, 128.373820743973),
- TrajectoryPoint(2240, 127.466742075516),
- TrajectoryPoint(2250, 126.555223090573),
- TrajectoryPoint(2260, 125.639200846806),
- TrajectoryPoint(2270, 124.71823997185),
- TrajectoryPoint(2280, 123.792752260635),
- TrajectoryPoint(2290, 122.862047991453),
- TrajectoryPoint(2300, 121.926390385521),
- TrajectoryPoint(2310, 120.985781216501),
- TrajectoryPoint(2320, 120.039447022012),
- TrajectoryPoint(2330, 119.087894481187),
- TrajectoryPoint(2340, 118.130967276745),
- TrajectoryPoint(2350, 117.167913449536),
- TrajectoryPoint(2360, 116.199153768707),
- TrajectoryPoint(2370, 115.224530490338),
- TrajectoryPoint(2380, 114.243642807481),
- TrajectoryPoint(2390, 113.256236854829),
- TrajectoryPoint(2400, 112.262428217485),
- TrajectoryPoint(2410, 111.262017430573),
- TrajectoryPoint(2420, 110.254797311192),
- TrajectoryPoint(2430, 109.240210388553),
- TrajectoryPoint(2440, 108.218359657945),
- TrajectoryPoint(2450, 107.18905886819),
- TrajectoryPoint(2460, 106.152068475589),
- TrajectoryPoint(2470, 105.107139357046),
- TrajectoryPoint(2480, 104.054012347058),
- TrajectoryPoint(2490, 102.992417746795),
- TrajectoryPoint(2500, 101.922074803322),
- TrajectoryPoint(2510, 100.842691156895),
- TrajectoryPoint(2520, 99.753962254038),
- TrajectoryPoint(2530, 98.6555707239711),
- TrajectoryPoint(2540, 97.5471857157151),
- TrajectoryPoint(2550, 96.4284621929983),
- TrajectoryPoint(2560, 95.2990401838284),
- TrajectoryPoint(2570, 94.1585439813332),
- TrajectoryPoint(2580, 93.0065812921652),
- TrajectoryPoint(2590, 91.8427423284479),
- TrajectoryPoint(2600, 90.6665988388753),
- TrajectoryPoint(2610, 89.4774390540253),
- TrajectoryPoint(2620, 88.2746396649513),
- TrajectoryPoint(2630, 87.0580281855391),
- TrajectoryPoint(2640, 85.8270846882579),
- TrajectoryPoint(2650, 84.5804379182145),
- TrajectoryPoint(2660, 83.3180612390695),
- TrajectoryPoint(2670, 82.0392338060996),
- TrajectoryPoint(2680, 80.7424991054066),
- TrajectoryPoint(2690, 79.4279821236853),
- TrajectoryPoint(2700, 78.0935956269846),
- TrajectoryPoint(2710, 76.7393940987897),
- TrajectoryPoint(2720, 75.3636329858332),
- TrajectoryPoint(2730, 73.9651817263447),
- TrajectoryPoint(2740, 72.5431290280362),
- TrajectoryPoint(2750, 71.0958831964234),
- TrajectoryPoint(2760, 69.6212360147459),
- TrajectoryPoint(2770, 68.1180465393934),
- TrajectoryPoint(2780, 66.5843147037006),
- TrajectoryPoint(2790, 65.0178549168622),
- TrajectoryPoint(2800, 63.4162742978174),
- TrajectoryPoint(2810, 61.7767195677176),
- TrajectoryPoint(2820, 60.095624802691),
- TrajectoryPoint(2830, 58.3702755230403),
- TrajectoryPoint(2840, 56.5962574251198),
- TrajectoryPoint(2850, 54.7686724086359),
- TrajectoryPoint(2860, 52.8819145270167),
- TrajectoryPoint(2870, 50.9298307741777),
- TrajectoryPoint(2880, 48.9042896236109),
- TrajectoryPoint(2890, 46.7957762132094),
- TrajectoryPoint(2900, 44.5930868834589),
- TrajectoryPoint(2910, 42.2799660800708),
- TrajectoryPoint(2920, 39.8388300333339),
- TrajectoryPoint(2930, 37.2438952999428),
- TrajectoryPoint(2940, 34.4609033921338),
- TrajectoryPoint(2950, 31.4390325302813),
- TrajectoryPoint(2960, 28.1028168888058),
- TrajectoryPoint(2970, 24.3209267802065),
- TrajectoryPoint(2980, 19.8437772488535),
- TrajectoryPoint(2990, 14.0194488542204),
+ TrajectoryPoint(0, 306.603538096386),
+ TrajectoryPoint(10, 305.768505733462),
+ TrajectoryPoint(20, 304.937667323281),
+ TrajectoryPoint(30, 304.109312139867),
+ TrajectoryPoint(40, 303.282835536058),
+ TrajectoryPoint(50, 302.45971239723),
+ TrajectoryPoint(60, 301.638705427401),
+ TrajectoryPoint(70, 300.819438919743),
+ TrajectoryPoint(80, 300.00326723704),
+ TrajectoryPoint(90, 299.188975881593),
+ TrajectoryPoint(100, 298.376293703289),
+ TrajectoryPoint(110, 297.566395330707),
+ TrajectoryPoint(120, 296.758240736162),
+ TrajectoryPoint(130, 295.951571229698),
+ TrajectoryPoint(140, 295.147342278942),
+ TrajectoryPoint(150, 294.344794678536),
+ TrajectoryPoint(160, 293.543615373182),
+ TrajectoryPoint(170, 292.744516565817),
+ TrajectoryPoint(180, 291.94709093476),
+ TrajectoryPoint(190, 291.150924018958),
+ TrajectoryPoint(200, 290.356472483662),
+ TrajectoryPoint(210, 289.563724515597),
+ TrajectoryPoint(220, 288.772132688172),
+ TrajectoryPoint(230, 287.981894950135),
+ TrajectoryPoint(240, 287.19341734818),
+ TrajectoryPoint(250, 286.40600002545),
+ TrajectoryPoint(260, 285.61964141661),
+ TrajectoryPoint(270, 284.835005053623),
+ TrajectoryPoint(280, 284.051394906493),
+ TrajectoryPoint(290, 283.268752815939),
+ TrajectoryPoint(300, 282.48742516336),
+ TrajectoryPoint(310, 281.707284957766),
+ TrajectoryPoint(320, 280.928028431234),
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- TrajectoryPoint(2950, 31.554947121852),
- TrajectoryPoint(2960, 28.1902709533103),
- TrajectoryPoint(2970, 24.3821827987399),
- TrajectoryPoint(2980, 19.8815665988451),
- TrajectoryPoint(2990, 14.0365991419119),
+ TrajectoryPoint(0, 520.294184063234),
+ TrajectoryPoint(10, 518.414946538402),
+ TrajectoryPoint(20, 516.531540596889),
+ TrajectoryPoint(30, 514.648134655376),
+ TrajectoryPoint(40, 512.753351115348),
+ TrajectoryPoint(50, 510.85599555496),
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+ TrajectoryPoint(70, 507.04341612669),
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+ TrajectoryPoint(90, 503.209798188292),
+ TrajectoryPoint(100, 501.2837146377),
+ TrajectoryPoint(110, 499.354520923721),
+ TrajectoryPoint(120, 497.413644254132),
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+ TrajectoryPoint(230, 475.69089182426),
+ TrajectoryPoint(240, 473.671438183907),
+ TrajectoryPoint(250, 471.651984543554),
+ TrajectoryPoint(260, 469.62166954984),
+ TrajectoryPoint(270, 467.585517388993),
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+ TrajectoryPoint(290, 463.490920425014),
+ TrajectoryPoint(300, 461.437720183199),
+ TrajectoryPoint(310, 459.367309641638),
+ TrajectoryPoint(320, 457.296701662606),
+ TrajectoryPoint(330, 455.213765305676),
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+ TrajectoryPoint(1000, 302.917723321331),
+ TrajectoryPoint(1010, 300.974954225157),
+ TrajectoryPoint(1020, 299.05407270038),
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+ TrajectoryPoint(1040, 295.264672886738),
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+ TrajectoryPoint(1060, 291.55447543835),
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+ TrajectoryPoint(1080, 287.919509734049),
+ TrajectoryPoint(1090, 286.127119890393),
+ TrajectoryPoint(1100, 284.350147207932),
+ TrajectoryPoint(1110, 282.596521875624),
+ TrajectoryPoint(1120, 280.856634948092),
+ TrajectoryPoint(1130, 279.130619723112),
+ TrajectoryPoint(1140, 277.423978363436),
+ TrajectoryPoint(1150, 275.733706416913),
+ TrajectoryPoint(1160, 274.056665038965),
+ TrajectoryPoint(1170, 272.392897727885),
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+ TrajectoryPoint(1190, 269.118315262753),
+ TrajectoryPoint(1200, 267.499914636565),
+ TrajectoryPoint(1210, 265.894633357531),
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+ TrajectoryPoint(1230, 262.731056889096),
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+ TrajectoryPoint(1260, 258.078179081881),
+ TrajectoryPoint(1270, 256.553204533479),
+ TrajectoryPoint(1280, 255.039225340795),
+ TrajectoryPoint(1290, 253.536145680198),
+ TrajectoryPoint(1300, 252.045088130273),
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+ TrajectoryPoint(1320, 249.098860696351),
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+ TrajectoryPoint(1400, 237.716144640574),
+ TrajectoryPoint(1410, 236.335551763655),
+ TrajectoryPoint(1420, 234.964558851151),
+ TrajectoryPoint(1430, 233.601728018534),
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+ TrajectoryPoint(1450, 230.899974633552),
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+ TrajectoryPoint(1470, 228.229107300791),
+ TrajectoryPoint(1480, 226.904945109916),
+ TrajectoryPoint(1490, 225.589023960936),
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+ TrajectoryPoint(1510, 222.977972718581),
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+ TrajectoryPoint(1790, 188.711467681412),
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+ TrajectoryPoint(1810, 186.384041507529),
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+ TrajectoryPoint(1950, 170.347896919647),
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+ TrajectoryPoint(1970, 168.083732180641),
+ TrajectoryPoint(1980, 166.953337645433),
+ TrajectoryPoint(1990, 165.823886456441),
+ TrajectoryPoint(2000, 164.695285661031),
+ TrajectoryPoint(2010, 163.567443804621),
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+ TrajectoryPoint(2080, 155.686340216569),
+ TrajectoryPoint(2090, 154.561203476435),
+ TrajectoryPoint(2100, 153.435940810059),
+ TrajectoryPoint(2110, 152.310469187034),
+ TrajectoryPoint(2120, 151.184701498792),
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+ TrajectoryPoint(2140, 148.931719407349),
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+ TrajectoryPoint(2180, 144.417398898088),
+ TrajectoryPoint(2190, 143.286377397274),
+ TrajectoryPoint(2200, 142.154272476736),
+ TrajectoryPoint(2210, 141.020781629889),
+ TrajectoryPoint(2220, 139.885932782102),
+ TrajectoryPoint(2230, 138.749568383057),
+ TrajectoryPoint(2240, 137.611500633411),
+ TrajectoryPoint(2250, 136.471770576951),
+ TrajectoryPoint(2260, 135.329997503738),
+ TrajectoryPoint(2270, 134.186381550112),
+ TrajectoryPoint(2280, 133.040404297991),
+ TrajectoryPoint(2290, 131.89235365306),
+ TrajectoryPoint(2300, 130.741659803416),
+ TrajectoryPoint(2310, 129.58859634525),
+ TrajectoryPoint(2320, 128.432658650093),
+ TrajectoryPoint(2330, 127.273973825415),
+ TrajectoryPoint(2340, 126.112248808443),
+ TrajectoryPoint(2350, 124.947302215647),
+ TrajectoryPoint(2360, 123.779228641372),
+ TrajectoryPoint(2370, 122.607346310855),
+ TrajectoryPoint(2380, 121.431979146028),
+ TrajectoryPoint(2390, 120.252815897183),
+ TrajectoryPoint(2400, 119.069416207378),
+ TrajectoryPoint(2410, 117.881944679586),
+ TrajectoryPoint(2420, 116.690157071466),
+ TrajectoryPoint(2430, 115.493452450706),
+ TrajectoryPoint(2440, 114.292021692098),
+ TrajectoryPoint(2450, 113.085628214861),
+ TrajectoryPoint(2460, 111.87398785109),
+ TrajectoryPoint(2470, 110.65655441975),
+ TrajectoryPoint(2480, 109.433400268975),
+ TrajectoryPoint(2490, 108.204247056575),
+ TrajectoryPoint(2500, 106.968804022675),
+ TrajectoryPoint(2510, 105.72676747895),
+ TrajectoryPoint(2520, 104.477820252616),
+ TrajectoryPoint(2530, 103.221631083338),
+ TrajectoryPoint(2540, 101.95775003417),
+ TrajectoryPoint(2550, 100.685966430244),
+ TrajectoryPoint(2560, 99.4059076019508),
+ TrajectoryPoint(2570, 98.117183985821),
+ TrajectoryPoint(2580, 96.8193883694775),
+ TrajectoryPoint(2590, 95.5119140453772),
+ TrajectoryPoint(2600, 94.1944219657191),
+ TrajectoryPoint(2610, 92.8664407737286),
+ TrajectoryPoint(2620, 91.527476168995),
+ TrajectoryPoint(2630, 90.1770104909934),
+ TrajectoryPoint(2640, 88.8145013729992),
+ TrajectoryPoint(2650, 87.4388625143585),
+ TrajectoryPoint(2660, 86.0497239163172),
+ TrajectoryPoint(2670, 84.6466237849786),
+ TrajectoryPoint(2680, 83.2282571102531),
+ TrajectoryPoint(2690, 81.7940085324056),
+ TrajectoryPoint(2700, 80.3431796002916),
+ TrajectoryPoint(2710, 78.8741954702452),
+ TrajectoryPoint(2720, 77.3865961026145),
+ TrajectoryPoint(2730, 75.8788037580769),
+ TrajectoryPoint(2740, 74.3494746580016),
+ TrajectoryPoint(2750, 72.7976315626961),
+ TrajectoryPoint(2760, 71.2214477204037),
+ TrajectoryPoint(2770, 69.6187445155037),
+ TrajectoryPoint(2780, 67.988110377873),
+ TrajectoryPoint(2790, 66.3273393800244),
+ TrajectoryPoint(2800, 64.6340107713119),
+ TrajectoryPoint(2810, 62.9054633740486),
+ TrajectoryPoint(2820, 61.1383567634864),
+ TrajectoryPoint(2830, 59.3289754686274),
+ TrajectoryPoint(2840, 57.4741292060343),
+ TrajectoryPoint(2850, 55.5680988333586),
+ TrajectoryPoint(2860, 53.6065079276512),
+ TrajectoryPoint(2870, 51.5816078307811),
+ TrajectoryPoint(2880, 49.4862737645788),
+ TrajectoryPoint(2890, 47.3112540551699),
+ TrajectoryPoint(2900, 45.0438862715074),
+ TrajectoryPoint(2910, 42.6706539435747),
+ TrajectoryPoint(2920, 40.1715944479075),
+ TrajectoryPoint(2930, 37.5224648495147),
+ TrajectoryPoint(2940, 34.687731795077),
+ TrajectoryPoint(2950, 31.6182763081882),
+ TrajectoryPoint(2960, 28.238111478929),
+ TrajectoryPoint(2970, 24.4160835520797),
+ TrajectoryPoint(2980, 19.9026353740619),
+ TrajectoryPoint(2990, 14.0462376221463),
TrajectoryPoint(3000, 0),
};
Trajectory t_closed[] = {
@@ -7181,12 +7183,6 @@ Trajectory t_open[] = {
Trajectory{0.0, t8_open, 301}, Trajectory{0.0, t9_open, 301},
Trajectory{0.0, t10_open, 301},
};
-// =============================================
-// WARNING: GEMINI ROCCARASO TRAJECTORIES
-// REMOVE THESE!!!
-// =============================================
-
-TrajectorySet Main::Data::ABK::CLOSED_TRAJECTORY_SET{t_closed, 11};
-TrajectorySet Main::Data::ABK::OPEN_TRAJECTORY_SET{t_open, 11};
-
+TrajectorySet Main::Data::ABK::CLOSED_TRAJECTORY_SET(t_closed, 11);
+TrajectorySet Main::Data::ABK::OPEN_TRAJECTORY_SET(t_open, 11);
#endif
\ No newline at end of file
diff --git a/src/boards/Main/StateMachines/MEAController/MEAController.cpp b/src/boards/Main/StateMachines/MEAController/MEAController.cpp
index 5ddb2efc7fcb33545370a470fd70200147b883d7..527e80cf1b2b2d7b9975b02ac99adbd7512e8124 100644
--- a/src/boards/Main/StateMachines/MEAController/MEAController.cpp
+++ b/src/boards/Main/StateMachines/MEAController/MEAController.cpp
@@ -75,7 +75,7 @@ MEA::Config computeMEAConfig()
float d = 0.15f;
config.crossSection = Constants::PI * (d / 2) * (d / 2);
- config.ae = 0.0028594f;
+ config.ae = 0.00285943f;
config.p0 = 100093.7492f;
config.cdCorrectionFactor = Config::MEA::CD_CORRECTION_FACTOR;
diff --git a/src/boards/common/ReferenceConfig.h b/src/boards/common/ReferenceConfig.h
index 3923b98e653424a7dc63c7a43c9657860d3f5b28..02a7288313f6d1af5bfa00407e1da4aca5b3bf5f 100644
--- a/src/boards/common/ReferenceConfig.h
+++ b/src/boards/common/ReferenceConfig.h
@@ -42,7 +42,7 @@ static const Boardcore::ReferenceValues defaultReferenceValues = {
Boardcore::Constants::MSL_TEMPERATURE,
};
-const Eigen::Vector3f nedMag(0.5939, -0.0126, 0.8044);
+const Eigen::Vector3f nedMag(0.59448, -0.0093, 0.80406);
#elif defined(ROCCARASO)