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Patch: Running example_vasarhelyi with quadcopter drone type #12

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Patch: Running example_vasarhelyi with quadcopter drone type #12

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255dd92
Fix to add saving velocity data to method Drone.compute_kinematics an…
d-marson Nov 29, 2022
40258a2
Adding an if statement to automatically set parameter based on drone …
d-marson Nov 29, 2022
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7 changes: 6 additions & 1 deletion @Drone/Drone.m
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Original file line number Diff line number Diff line change
Expand Up @@ -570,12 +570,17 @@ function compute_kinematics(self, time)

x_new = x_ode(end, :);
self.pos_ned = x_new(1:3)';
if self.pos_ned_history == [NaN, NaN, NaN]
if isequal(self.pos_ned_history, [NaN, NaN, NaN])
self.pos_ned_history = self.pos_ned;
else
self.pos_ned_history = [self.pos_ned_history; self.pos_ned'];
end
self.vel_xyz = x_new(4:6)';
if isempty(self.vel_xyz_history) || isequal(self.vel_xyz_history, [NaN, NaN, NaN])
self.vel_xyz_history = self.vel_xyz'; % rows = time steps, columns = states
else
self.vel_xyz_history = [self.vel_xyz_history; self.vel_xyz'];
end
self.attitude = x_new(7:9)';
self.rates = x_new(10:12)';

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7 changes: 5 additions & 2 deletions parameters/param_swarm/param_swarm.m
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Expand Up @@ -112,8 +112,11 @@
%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

p_swarm.max_a = 10;
% p_swarm.max_a = []; % leave empty if you use a real drone model
if DRONE_TYPE == "fixed_wing" || DRONE_TYPE == "quadcopter"
p_swarm.max_a = []; % leave empty if you use a real drone model
elseif DRONE_TYPE == "point_mass"
p_swarm.max_a = 10;
end
p_swarm.max_v = 7;

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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