mirror of https://github.com/ArduPilot/ardupilot
27 lines
1.4 KiB
Mathematica
27 lines
1.4 KiB
Mathematica
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% Configuration script for the control model validation
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% Determines simulated and measured signals that are compared to validate
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% the control model
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%
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% Fabian Bredemeier - IAV GmbH
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% License: GPL v3
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switch simMode
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case 1 % Rate Controller
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val_out_sig_names = {'RATE.ROut', 'RATE.POut', 'RATE.YOut'}; % Names of signals in the Ardupilot dataflash logs
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val_out_sig_sim = {'rollRateCtrlOut', 'pitchRateCtrlOut', 'yawRateCtrlOut'}; % Names of the simulated signals
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val_out_sig_meas = {'rollRateTotMeas', 'pitchRateTotMeas', 'yawRateTotMeas'}; % Names of the measured signals
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val_in_sig_names = {'RATE.RDes', 'RATE.PDes', 'RATE.YDes'};
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val_in_sig = {'<rollRateTar>', '<pitchRateTar>', '<yawRateTar>'};
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case 2 % Attitude controller
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val_out_sig_names = {'RATE.RDes','RATE.PDes', 'RATE.YDes'};
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val_out_sig_sim = {'rollRateTar', 'pitchRateTar', 'yawRateTar'};
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val_out_sig_meas = {'rollRateTarMeas','pitchRateTarMeas', 'yawRateTarMeas'};
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val_in_sig_names = {'RCIN.C1', 'RCIN.C2', 'RCIN.C4'};
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val_in_sig = {'rcinRoll', 'rcinPitch', 'rcinYaw'};
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case 3 % z position controller
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val_out_sig_names = {'CTUN.ThI', 'PSCD.TAD', 'PSCD.TVD'};
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val_out_sig_sim = {'thrOut', 'zAccTar', 'zVelTar'};
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val_out_sig_meas = {'thrInMeas', 'zAccTarMeas', 'zVelTarMeas'};
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val_in_sig_names = {'PSCD.TAD', 'PSCD.TVD', 'PSCD.TPD'};
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val_in_sig = {'zAccTar', 'zVelTar', 'zPosTar'};
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end
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