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Fix acceleration reading from IMU #10

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merged 3 commits into from
Nov 5, 2024
Merged

Fix acceleration reading from IMU #10

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64ac9da
fix acceleration from read_imu for euler method
makeecat Nov 5, 2024
f34ebc3
add acceleration update in rk4
makeecat Nov 5, 2024
fe1ab59
fix state_derivate test
makeecat Nov 5, 2024
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add acceleration update in rk4
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@makeecat
makeecat committed Nov 5, 2024
commit f34ebc37ae12da2206a2c4486fef69357a4e2eea
6 changes: 3 additions & 3 deletions src/lib.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -283,7 +283,7 @@ impl Quadrotor {
/// let derivative = quadrotor.state_derivative(&state, control_thrust, &control_torque);
/// ```
pub fn state_derivative(
&self,
&mut self,
state: &[f32],
control_thrust: f32,
control_torque: &Vector3<f32>,
Expand All @@ -301,15 +301,15 @@ impl Quadrotor {
let gravity_force = Vector3::new(0.0, 0.0, -self.mass * self.gravity);
let drag_force = -self.drag_coefficient * velocity.norm() * velocity;
let thrust_world = orientation * Vector3::new(0.0, 0.0, control_thrust);
let acceleration = (thrust_world + gravity_force + drag_force) / self.mass;
self.acceleration = (thrust_world + gravity_force + drag_force) / self.mass;

let inertia_angular_velocity = self.inertia_matrix * angular_velocity;
let gyroscopic_torque = angular_velocity.cross(&inertia_angular_velocity);
let angular_acceleration = self.inertia_matrix_inv * (control_torque - gyroscopic_torque);

let mut derivative = [0.0; 13];
derivative[0..3].copy_from_slice(velocity.as_slice());
derivative[3..6].copy_from_slice(acceleration.as_slice());
derivative[3..6].copy_from_slice(self.acceleration.as_slice());
derivative[6..10].copy_from_slice(q_dot.coords.as_slice());
derivative[10..13].copy_from_slice(angular_acceleration.as_slice());
derivative
Expand Down