Add support to track rigid body payloads #17
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KhWahba
approved these changes
Dec 13, 2022
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Please review the latest commits |
whoenig
commented
Dec 14, 2022
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300
| c_float Ax_new[45] = { | ||
| 1, attPoint.z, -attPoint.y, n1.x, n2.x, 1, -attPoint.z, attPoint.x, n1.y, n2.y, 1, attPoint.y, attPoint.x, n1.z, n2.z, | ||
| 1, attPoint2.z, -attPoint2.y, n3.x, n4.x, 1, -attPoint2.z, attPoint2.x, n3.y, n4.y, 1, attPoint2.y, attPoint2.x, n3.z, n4.z, | ||
| 1, attPoint3.z, -attPoint3.y, n5.x, n6.x, 1, -attPoint3.z, attPoint3.x, n5.y, n6.y, 1, attPoint3.y, attPoint3.x, n5.z, n6.z, | ||
| }; | ||
| c_int Ax_new_n = 45; | ||
| c_float l_new[12] = {F_d.x, F_d.y, F_d.z, M_d.x, M_d.y, M_d.z, -INFINITY, -INFINITY, -INFINITY, -INFINITY, -INFINITY, -INFINITY,}; | ||
| c_float u_new[12] = {F_d.x, F_d.y, F_d.z, M_d.x, M_d.y, M_d.z, 0, 0, 0, 0, 0, 0}; |
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This might require us to increase the task size even more: (45+12+12)*4 = 276 Bytes for these lines alone.
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I was just making sure that we can access all of the values and the changes are correct, but we can update this later to change it in a loop as discussed before.
…es the attitude tracking of the payload much better
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Compiles, but not tested. However, it includes some logging variables, so we can check both orientation and (filtered) omega without the need to fly.