[paparazzi-commits] [4580]

[antoine drouin]

Revision: 4580
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4580
Author:   poine
Date:     2010-02-24 12:22:05 +0000 (Wed, 24 Feb 2010)
Log Message:
-----------


Modified Paths:
--------------
    paparazzi3/trunk/sw/simulator/scilab/q6d/q6d_sbb.sci

Modified: paparazzi3/trunk/sw/simulator/scilab/q6d/q6d_sbb.sci
===================================================================
--- paparazzi3/trunk/sw/simulator/scilab/q6d/q6d_sbb.sci        2010-02-24 
10:56:13 UTC (rev 4579)
+++ paparazzi3/trunk/sw/simulator/scilab/q6d/q6d_sbb.sci        2010-02-24 
12:22:05 UTC (rev 4580)
@@ -6,29 +6,29 @@
 
 SBB_TOLERANCE = 0.025;
 
-function [step_dt, step_ampl, traj_dt] = compute_step(dist, dyn, max_accel, 
max_speed)
+function [pulse_dt, pulse_ampl, traj_dt] = compute_step(dist, dyn, max_accel, 
max_speed)
   if (dist < 0.01)
-    step_dt = 0;
-    step_ampl = 0;
+    pulse_dt = 0;
+    pulse_ampl = 0;
     traj_dt = 1;
   else
     omega = dyn(1);
     xsi = dyn(2);
-    step_dt = -log(SBB_TOLERANCE)/(omega*xsi*sqrt(1-xsi^2));
-    step_ampl = dist / (2*step_dt^2);
-    if step_ampl < max_accel
-      if step_ampl > max_speed/step_dt
-       step_ampl = max_speed/step_dt;
+    pulse_dt = -log(SBB_TOLERANCE)/(omega*xsi*sqrt(1-xsi^2));
+    pulse_ampl = dist / (2*pulse_dt^2);
+    if pulse_ampl < max_accel
+      if pulse_ampl > max_speed/pulse_dt
+       pulse_ampl = max_speed/pulse_dt;
       end
     else
-      step_ampl = max_accel;
-      if step_ampl <= max_speed/step_dt
-       step_dt = max_speed/step_ampl;
+      pulse_ampl = max_accel;
+      if pulse_ampl <= max_speed/pulse_dt
+       pulse_dt = max_speed/pulse_ampl;
       else
-       step_ampl = max_speed/step_dt;
+       pulse_ampl = max_speed/pulse_dt;
       end
     end
-    traj_dt = (dist - 2*step_dt*(step_ampl*step_dt))/step_ampl*step_dt + 
4*step_dt;
+    traj_dt = (dist - 2*pulse_dt*(pulse_ampl*pulse_dt))/pulse_ampl*pulse_dt + 
4*pulse_dt;
   end
 endfunction