#include "uiuc_pah_ap.h"
//#include <stdio.h>
double pah_ap(double pitch, double pitchrate, double pitch_ref, double V,
- double sample_time, int init)
+ double sample_time, int init)
{
// changes by RD so function keeps previous values
static double u2prev;
// the following is using the actuator dynamics given in Beaver.
// the actuator dynamics for Twin Otter are still unavailable.
x1 = x1prev +(-10.951*x1prev + 7.2721*x2prev + 20.7985*x3prev +
- 25.1568*totalU)*sample_time;
+ 25.1568*totalU)*sample_time;
x2 = x2prev + x3prev*sample_time;
x3 = x3prev + (7.3446*x1prev - 668.6713*x2prev - 16.8697*x3prev +
- 5.8694*totalU)*sample_time;
+ 5.8694*totalU)*sample_time;
deltae = 57.2958*x2;
//deltae = x2;
//printf("x1prev=%f\n",x1prev);
//printf("deltae=%f\n",deltae);
return deltae;
}
-
+
-
+