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Add support to track rigid body payloads #17
base: qp-lee-payload
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Please review the latest commits |
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
Compiles, but not tested. However, it includes some logging variables, so we can check both orientation and (filtered) omega without the need to fly.