From e18c006b6bdb3777db2b41fc2aa03acd76189b5a Mon Sep 17 00:00:00 2001
From: "Pier Francesco A. Bachini" <pierfrancesco.bachini@skywarder.eu>
Date: Thu, 25 Jul 2024 16:09:16 +0200
Subject: [PATCH] [gnc] Update Parafoil class and ode with control structure
---
classes/components/Parafoil.m | 8 ++------
functions/odeFunctions/descentParafoil.m | 19 ++++++++++---------
.../config/paraConfig.m | 6 ------
missions/missionConfig.m | 3 +--
4 files changed, 13 insertions(+), 23 deletions(-)
diff --git a/classes/components/Parafoil.m b/classes/components/Parafoil.m
index d02cc7b..6a60eb0 100644
--- a/classes/components/Parafoil.m
+++ b/classes/components/Parafoil.m
@@ -14,12 +14,6 @@ classdef Parafoil < Para
name = ''
surface double % [m^2] Surface
deltaSMax double % [-] Aerodynamic control coefficient - symmetric, max value
-
- uMax
- uMin
- identification
- deltaATau
- maxSpeed
mass double % [kg] Parafoil Mass
openingTime double % [s] Parafoil opening time (delay + time to get fully open)
@@ -47,6 +41,8 @@ classdef Parafoil < Para
cNR double % [-] aerodynamic control coefficient - asymetric, Cnr
cNSurface double % [-] aerodynamic control coefficient - asymetric, CnDeltaA
+
+ controlParams = [] % Struct containing all the control parameters
end
properties(SetAccess = private)
diff --git a/functions/odeFunctions/descentParafoil.m b/functions/odeFunctions/descentParafoil.m
index 104a272..17b484b 100644
--- a/functions/odeFunctions/descentParafoil.m
+++ b/functions/odeFunctions/descentParafoil.m
@@ -134,11 +134,11 @@ end
% Saturation on servo angle, needed if the actuation is faster than the
% integration step
if isControlActive
- if deltaA > parafoil.uMax
- deltaA = parafoil.uMax;
+ if deltaA > parafoil.controlParams.uMax
+ deltaA = parafoil.controlParams.uMax;
isAngleSaturated = true;
- elseif deltaA < parafoil.uMin
- deltaA = parafoil.uMin;
+ elseif deltaA < parafoil.controlParams.uMin
+ deltaA = parafoil.controlParams.uMin;
isAngleSaturated = true;
end
end
@@ -187,7 +187,7 @@ angAcc = inverseInertia*(momentAero - cross(omega, inertia * omega));
dDeltaA = 0;
if isControlActive && ~isAngleSaturated
deltaARef = control.deltaARef;
- if ~parafoil.identification
+ if ~parafoil.controlParams.identification
% set velocity of servo (air brakes)
if length(deltaARef) == 2 % for the recallOdeFunction
if theta < control.timeChangeRef
@@ -204,9 +204,9 @@ if isControlActive && ~isAngleSaturated
deltaARef = deltaARef(idxDeltaA, 2);
end
- dDeltaA = (deltaARef-deltaA)/parafoil.deltaATau;
- if abs(dDeltaA) > parafoil.maxSpeed
- dDeltaA = sign(deltaARef-deltaA)*parafoil.maxSpeed; % concettualmente sta roba è sbagliata perchè dipende dal passo di integrazione, fixare
+ dDeltaA = (deltaARef-deltaA)/parafoil.controlParams.deltaA_tau;
+ if abs(dDeltaA) > parafoil.controlParams.deltaA_maxSpeed
+ dDeltaA = sign(deltaARef-deltaA)*parafoil.controlParams.deltaA_maxSpeed; % concettualmente sta roba è sbagliata perchè dipende dal passo di integrazione, fixare
end
end
@@ -219,7 +219,7 @@ dY(14) = dDeltaA;
if nargout == 2 || ~isempty(wrapper)
parout.state = [];
- parout.interp = [];
+ parout.interp.mass = mass;
parout.wind.body = windVels;
parout.wind.NED = [uw; vw; ww];
@@ -234,6 +234,7 @@ if nargout == 2 || ~isempty(wrapper)
parout.air = [];
parout.accelerations.body = bodyAcc;
+ parout.accelerometer.body_acc = forceAero/mass;
parout.coeff = [];
parout.uncertanty = [];
diff --git a/missions/2024_Lyra_Portugal_October/config/paraConfig.m b/missions/2024_Lyra_Portugal_October/config/paraConfig.m
index 6c8e927..59d2a43 100644
--- a/missions/2024_Lyra_Portugal_October/config/paraConfig.m
+++ b/missions/2024_Lyra_Portugal_October/config/paraConfig.m
@@ -67,12 +67,6 @@ para(2, 2).openingTime = 0; % [s] Parafoil opening delay
para(2, 2).surface = 0.11; % [m^2] Surface
para(2, 2).deltaSMax = 0.1; % max value
-uMax = 0;
-uMin = 0;
-identification = 0;
-deltaATau = 0;
-maxSpeed = 0;
-
para(2, 2).semiWingSpan = 2.55/2; % [m] settings.para(2, 2).b: semiwingspan - vela nuova: 2.55/2; - vela vecchia: 2.06/2;
para(2, 2).MAC = 0.8; % [m] mean aero chord
para(2, 2).surface = 2.04; % [m^2] parafoil surface - vela nuova 2.04; - vela vecchia: 1.64;
diff --git a/missions/missionConfig.m b/missions/missionConfig.m
index dc15caf..ab8c15d 100644
--- a/missions/missionConfig.m
+++ b/missions/missionConfig.m
@@ -4,5 +4,4 @@
% such as the current mission. The config "BIOS"
mission = Mission();
-mission.name = '2023_Gemini_Roccaraso_September';
-% mission.name = '2024_Lyra_Portugal_October';
\ No newline at end of file
+mission.name = '2024_Lyra_Portugal_October';
\ No newline at end of file
--
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