[paparazzi-commits] [4579] fixed wrong input computation

[antoine drouin]

Revision: 4579
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4579
Author:   poine
Date:     2010-02-24 10:56:13 +0000 (Wed, 24 Feb 2010)
Log Message:
-----------
fixed wrong input computation

Modified Paths:
--------------
    paparazzi3/trunk/sw/simulator/scilab/q6d/q6d_diff_flatness.sci
    paparazzi3/trunk/sw/simulator/scilab/q6d/test_stop_stop.sce

Modified: paparazzi3/trunk/sw/simulator/scilab/q6d/q6d_diff_flatness.sci
===================================================================
--- paparazzi3/trunk/sw/simulator/scilab/q6d/q6d_diff_flatness.sci      
2010-02-24 10:20:31 UTC (rev 4578)
+++ paparazzi3/trunk/sw/simulator/scilab/q6d/q6d_diff_flatness.sci      
2010-02-24 10:56:13 UTC (rev 4579)
@@ -170,8 +170,8 @@
   b  = -cphi*stheta*thetad*psid + cphi*ctheta*psi2d; 
   rd = a+b;
   
-  inp(2) = DF_JXX/DF_L*pd + (DF_JZZ-DF_JYY)*q*r;
-  inp(3) = DF_JYY/DF_L*qd + (DF_JXX-DF_JZZ)*p*r;
-  inp(4) = DF_JZZ/DF_CM_OV_CT*rd + (DF_JYY-DF_JXX)*p*q;
+  inp(2) = 1/DF_L*(DF_JXX*pd + (DF_JZZ-DF_JYY)*q*r);
+  inp(3) = 1/DF_L*(DF_JYY*qd + (DF_JXX-DF_JZZ)*p*r);
+  inp(4) = 1/DF_CM_OV_CT*(DF_JZZ*rd + (DF_JYY-DF_JXX)*p*q);
   
 endfunction
\ No newline at end of file

Modified: paparazzi3/trunk/sw/simulator/scilab/q6d/test_stop_stop.sce
===================================================================
--- paparazzi3/trunk/sw/simulator/scilab/q6d/test_stop_stop.sce 2010-02-24 
10:20:31 UTC (rev 4578)
+++ paparazzi3/trunk/sw/simulator/scilab/q6d/test_stop_stop.sce 2010-02-24 
10:56:13 UTC (rev 4579)
@@ -18,7 +18,7 @@
 //b0 = [ 0    0   0];
 //b1 = [-10   1  -2];
 b0 = [ 0   0   0];
-b1 = [ 0   5   0];
+b1 = [ 1   0   5];
 [fo_traj] = sbb_gen_traj(time, dyn, max_speed, max_accel, b0, b1);