reformule

Heithem97 · May 15, 2019 · 720d2d5 · 720d2d5
1 parent deb24fb
commit 720d2d5
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Showing 20 changed files with 761 additions and 924 deletions.
diff --git a/cfg/controllerDyn.cfg b/cfg/controllerDyn.cfg
@@ -72,12 +72,6 @@ group4.add("ky",                    double_t,  CONTROLLER_GAIN["value"],"k-y",
 group4.add("kvy",                   double_t,  CONTROLLER_GAIN["value"],"k-yd",                    -0.5505,  -2.0,  0.0)
 group4.add("kiy",                   double_t,  CONTROLLER_GAIN["value"],"k-iy",                    -0.7657,  -2.0,  0.0)
 
-#group4.add("kx",                    double_t,  CONTROLLER_GAIN["value"],"k-x",                     1.6651,   0.0,   2.0)
-#group4.add("kvx",                   double_t,  CONTROLLER_GAIN["value"],"k-xd",                    0.9236,   0.0,   2.0)
-#group4.add("kix",                   double_t,  CONTROLLER_GAIN["value"],"k-ix",                    1.3486,   0.0,   2.0)
-#group4.add("ky",                    double_t,  CONTROLLER_GAIN["value"],"k-y",                     -1.5145,  -2.0,  0.0)
-#group4.add("kvy",                   double_t,  CONTROLLER_GAIN["value"],"k-yd",                    -0.8551,  -2.0,  0.0)
-#group4.add("kiy",                   double_t,  CONTROLLER_GAIN["value"],"k-iy",                    -1.1930,  -2.0,  0.0)
 
 group4.add("kphi",                  double_t,  CONTROLLER_GAIN["value"],"k-phi",                   1.7378,   0.0,   10.0)
 group4.add("kp",                    double_t,  CONTROLLER_GAIN["value"],"k-p",                     0.3476,   0.0,   1.0)
@@ -92,14 +86,4 @@ group4.add("kpsi",                  double_t,  CONTROLLER_GAIN["value"],"k-psi",
 group4.add("kr",                    double_t,  CONTROLLER_GAIN["value"],"k-p",                     0.3130,   0.0,   0.5)
 group4.add("kipsi",                 double_t,  CONTROLLER_GAIN["value"],"k-ipsi",                  0.3162,   0.0,   0.5)
 
-#group4.add("kphi",                  double_t,  CONTROLLER_GAIN["value"],"k-phi",                   2.6042,   0.0,   10.0)
-#group4.add("kp",                    double_t,  CONTROLLER_GAIN["value"],"k-p",                     0.4431,   0.0,   1.0)
-#group4.add("kiphi",                 double_t,  CONTROLLER_GAIN["value"],"k-iphi",                  0.0,      0.0,   20.0)
-#group4.add("ktheta",                double_t,  CONTROLLER_GAIN["value"],"k-theta",                 2.8913 ,   0.0,   10.0)
-#group4.add("kq",                    double_t,  CONTROLLER_GAIN["value"],"k-q",                     0.5163,   0.0,   1.0)
-#group4.add("kitheta",               double_t,  CONTROLLER_GAIN["value"],"k-itheta",                0.0,      0.0,   20.0)
-#group4.add("kpsi",                  double_t,  CONTROLLER_GAIN["value"],"k-psi",                   0.7660,   0.0,   1.0)
-#group4.add("kr",                    double_t,  CONTROLLER_GAIN["value"],"k-p",                     0.4006,   0.0,   1.0)
-#group4.add("kipsi",                 double_t,  CONTROLLER_GAIN["value"],"k-ipsi",                  0.5774,   0.0,   1.0)
-
 exit(gen.generate(PACKAGE, "gsft_control", "controllerDyn"))
diff --git a/cfg/controllerGS1Dyn.cfg b/cfg/controllerGS1Dyn.cfg
@@ -20,7 +20,7 @@ CONTROLLER_GAIN  = gen.const("CONTROLLER_GAIN",  int_t, 0x00000008, "controller_
 group1 = gen.add_group("group_control")
 group2 = gen.add_group("group_waypoint_references")
 #group3 = gen.add_group("group3_drone_parameters")
-group4 = gen.add_group("group_controller_gains")
+#group4 = gen.add_group("group_controller_gains")
 group5 = gen.add_group("group_LOE")
 
 #          Name                     Type      Reconfiguration level     Description                Default    Min    Max
@@ -30,15 +30,15 @@ test_mode_enum = gen.enum([ gen.const("TEST_MANUAL",     int_t, 0, "Manual test"
                             gen.const("TEST_WAYPOINT",   int_t, 1, "Waypoint test"),
                             gen.const("TEST_TRACKING",   int_t, 2, "Circular tracking test")],
                             "An enum to chose test mode")
-gen.add("test_mode", int_t, 0, "test mode", 0, 0, 2, edit_method=test_mode_enum)
+gen.add("test_mode", int_t, 0.0, "test mode", 0, 0, 2, edit_method=test_mode_enum)
 
-LOE_mode_enum = gen.enum([ gen.const("NO",            int_t, 1, "Nominal test"),
-                           gen.const("LOE_TRUE",      int_t, 2, "LOE true"),
-                           gen.const("LOE_FICTIVE",   int_t, 3, "LOE fictive"),
-                           gen.const("LOE_CALCUL",    int_t, 4, "LOE calcul"),
-                           gen.const("LOE_FDD",       int_t, 5, "LOE fdd")],
+LOE_mode_enum = gen.enum([ gen.const("NO",            int_t, 0, "Nominal test"),
+                           gen.const("LOE_TRUE",      int_t, 1, "LOE true"),
+                           gen.const("LOE_FICTIVE",   int_t, 2, "LOE fictive"),
+                           gen.const("LOE_CALCUL",    int_t, 3, "LOE calcul"),
+                           gen.const("LOE_FDD",       int_t, 4, "LOE fdd")],
                            "An enum to chose LOE estimation mode")
-gen.add("LOE_mode", int_t, 0, "LOE mode", 1, 1, 5, edit_method=LOE_mode_enum)
+gen.add("LOE_mode", int_t, 0.0, "LOE mode", 0, 0, 4, edit_method=LOE_mode_enum)
 
 group1.add("enable_take_off",       bool_t,   ENABLE_CTRL["value"],     "enable take off",         False)                   # ENABLE_CTRL["value"] = 0x00000001
 group1.add("enable_landing",        bool_t,   ENABLE_CTRL["value"],     "enable landing",          False)
@@ -69,45 +69,4 @@ group5.add("LOE_t6",                double_t,  0.0,            "fault time 6",
 #group3.add("kT",                    double_t,  NEW_PARAMETERS["value"], "thrust constant",     8.54858e-6,   1e-7,   1e-5)
 #group3.add("factor",                double_t,  NEW_PARAMETERS["value"], "scaling factor",          0.035,    0.0,   0.05)
 
-group4.add("kz",                    double_t,  CONTROLLER_GAIN["value"],"k-z",                     14.7226,  0.0,   23.2925)
-group4.add("kvz",                   double_t,  CONTROLLER_GAIN["value"],"k-zd",                    6.8078,   0.0,   8.47)
-group4.add("kiz",                   double_t,  CONTROLLER_GAIN["value"],"k-iz",                    12.2474,  0.0,   25.025)
-
-group4.add("kx",                    double_t,  CONTROLLER_GAIN["value"],"k-x",                     1.2426,   0.0,   2.0)
-group4.add("kvx",                   double_t,  CONTROLLER_GAIN["value"],"k-xd",                    0.7085,   0.0,   2.0)
-group4.add("kix",                   double_t,  CONTROLLER_GAIN["value"],"k-ix",                    0.9913,   0.0,   2.0)
-group4.add("ky",                    double_t,  CONTROLLER_GAIN["value"],"k-y",                     -0.9258,  -2.0,  0.0)
-group4.add("kvy",                   double_t,  CONTROLLER_GAIN["value"],"k-yd",                    -0.5770,  -2.0,  0.0)
-group4.add("kiy",                   double_t,  CONTROLLER_GAIN["value"],"k-iy",                    -0.6662,  -2.0,  0.0)
-
-#group4.add("kx",                    double_t,  CONTROLLER_GAIN["value"],"k-x",                     1.6651,   0.0,   2.0)
-#group4.add("kvx",                   double_t,  CONTROLLER_GAIN["value"],"k-xd",                    0.9236,   0.0,   2.0)
-#group4.add("kix",                   double_t,  CONTROLLER_GAIN["value"],"k-ix",                    1.3486,   0.0,   2.0)
-#group4.add("ky",                    double_t,  CONTROLLER_GAIN["value"],"k-y",                     -1.5145,  -2.0,  0.0)
-#group4.add("kvy",                   double_t,  CONTROLLER_GAIN["value"],"k-yd",                    -0.8551,  -2.0,  0.0)
-#group4.add("kiy",                   double_t,  CONTROLLER_GAIN["value"],"k-iy",                    -1.1930,  -2.0,  0.0)
-
-group4.add("kphi",                  double_t,  CONTROLLER_GAIN["value"],"k-phi",                   2.0050,   0.0,   10.0)
-group4.add("kp",                    double_t,  CONTROLLER_GAIN["value"],"k-p",                     0.4087,   0.0,   1.0)
-group4.add("kiphi",                 double_t,  CONTROLLER_GAIN["value"],"k-iphi",                  0.0,      0.0,   20.0)
-group4.add("ktheta",                double_t,  CONTROLLER_GAIN["value"],"k-theta",                 2.2946,   0.0,   10.0)
-group4.add("kq",                    double_t,  CONTROLLER_GAIN["value"],"k-q",                     0.4589,   0.0,   1.0)
-group4.add("kitheta",               double_t,  CONTROLLER_GAIN["value"],"k-itheta",                0.0,      0.0,   20.0)
-#group4.add("kpsi",                  double_t,  CONTROLLER_GAIN["value"],"k-psi",                   0.3036,   0.0,   0.498)
-#group4.add("kr",                    double_t,  CONTROLLER_GAIN["value"],"k-p",                     0.2440,   0.0,   0.3130)
-#group4.add("kipsi",                 double_t,  CONTROLLER_GAIN["value"],"k-ipsi",                  0.1581,   0.0,   0.3162)
-group4.add("kpsi",                  double_t,  CONTROLLER_GAIN["value"],"k-psi",                   0.498,    0.0,   1.0)
-group4.add("kr",                    double_t,  CONTROLLER_GAIN["value"],"k-p",                     0.3130,   0.0,   0.5)
-group4.add("kipsi",                 double_t,  CONTROLLER_GAIN["value"],"k-ipsi",                  0.3162,   0.0,   0.5)
-
-#group4.add("kphi",                  double_t,  CONTROLLER_GAIN["value"],"k-phi",                   2.6042,   0.0,   10.0)
-#group4.add("kp",                    double_t,  CONTROLLER_GAIN["value"],"k-p",                     0.4431,   0.0,   1.0)
-#group4.add("kiphi",                 double_t,  CONTROLLER_GAIN["value"],"k-iphi",                  0.0,      0.0,   20.0)
-#group4.add("ktheta",                double_t,  CONTROLLER_GAIN["value"],"k-theta",                 2.8913 ,   0.0,   10.0)
-#group4.add("kq",                    double_t,  CONTROLLER_GAIN["value"],"k-q",                     0.5163,   0.0,   1.0)
-#group4.add("kitheta",               double_t,  CONTROLLER_GAIN["value"],"k-itheta",                0.0,      0.0,   20.0)
-#group4.add("kpsi",                  double_t,  CONTROLLER_GAIN["value"],"k-psi",                   0.7660,   0.0,   1.0)
-#group4.add("kr",                    double_t,  CONTROLLER_GAIN["value"],"k-p",                     0.4006,   0.0,   1.0)
-#group4.add("kipsi",                 double_t,  CONTROLLER_GAIN["value"],"k-ipsi",                  0.5774,   0.0,   1.0)
-
 exit(gen.generate(PACKAGE, "gsft_control", "controllerGS1Dyn"))
diff --git a/src/tuning_GS1_grt_rtw/multiword_types.h b/src/tuning_GS1_grt_rtw/multiword_types.h
@@ -7,9 +7,9 @@
  *
  * Code generation for model "tuning_GS1".
  *
- * Model version              : 1.2101
+ * Model version              : 1.2189
  * Simulink Coder version : 8.12 (R2017a) 16-Feb-2017
- * C++ source code generated on : Mon Oct 22 19:08:51 2018
+ * C++ source code generated on : Thu Mar  7 15:36:47 2019
  *
  * Target selection: grt.tlc
  * Note: GRT includes extra infrastructure and instrumentation for prototyping

diff --git a/src/tuning_GS1_grt_rtw/rtmodel.h b/src/tuning_GS1_grt_rtw/rtmodel.h
@@ -7,9 +7,9 @@
  *
  * Code generation for model "tuning_GS1".
  *
- * Model version              : 1.2101
+ * Model version              : 1.2189
  * Simulink Coder version : 8.12 (R2017a) 16-Feb-2017
- * C++ source code generated on : Mon Oct 22 19:08:51 2018
+ * C++ source code generated on : Thu Mar  7 15:36:47 2019
  *
  * Target selection: grt.tlc
  * Note: GRT includes extra infrastructure and instrumentation for prototyping

diff --git a/src/tuning_GS1_grt_rtw/rtwtypes.h b/src/tuning_GS1_grt_rtw/rtwtypes.h
@@ -7,9 +7,9 @@
  *
  * Code generation for model "tuning_GS1".
  *
- * Model version              : 1.2101
+ * Model version              : 1.2189
  * Simulink Coder version : 8.12 (R2017a) 16-Feb-2017
- * C++ source code generated on : Mon Oct 22 19:08:51 2018
+ * C++ source code generated on : Thu Mar  7 15:36:47 2019
  *
  * Target selection: grt.tlc
  * Note: GRT includes extra infrastructure and instrumentation for prototyping