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[paparazzi-commits] [4582]
From: |
antoine drouin |
Subject: |
[paparazzi-commits] [4582] |
Date: |
Wed, 24 Feb 2010 12:49:23 +0000 |
Revision: 4582
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4582
Author: poine
Date: 2010-02-24 12:49:23 +0000 (Wed, 24 Feb 2010)
Log Message:
-----------
Modified Paths:
--------------
paparazzi3/trunk/sw/simulator/scilab/q6d/q6d_sbb.sci
paparazzi3/trunk/sw/simulator/scilab/q6d/test_stop_stop.sce
Modified: paparazzi3/trunk/sw/simulator/scilab/q6d/q6d_sbb.sci
===================================================================
--- paparazzi3/trunk/sw/simulator/scilab/q6d/q6d_sbb.sci 2010-02-24
12:45:01 UTC (rev 4581)
+++ paparazzi3/trunk/sw/simulator/scilab/q6d/q6d_sbb.sci 2010-02-24
12:49:23 UTC (rev 4582)
@@ -43,7 +43,11 @@
disp_xy = b1(1:2) - b0(1:2);
[pulse_dt, pulse_ampl, traj_dt] = compute_step(norm(disp_xy), dyn(1,:),
max_accel(1), max_speed(1));
fo_traj(1:2,1,1) = b0(1:2);
- u = disp_xy' / norm(disp_xy);
+ if norm(disp_xy) != 0
+ u = disp_xy' / norm(disp_xy);
+ else
+ u = [0 0]';
+ end
for i=2:length(time)
delta_t = time(i)-time(1);
if delta_t < pulse_dt
Modified: paparazzi3/trunk/sw/simulator/scilab/q6d/test_stop_stop.sce
===================================================================
--- paparazzi3/trunk/sw/simulator/scilab/q6d/test_stop_stop.sce 2010-02-24
12:45:01 UTC (rev 4581)
+++ paparazzi3/trunk/sw/simulator/scilab/q6d/test_stop_stop.sce 2010-02-24
12:49:23 UTC (rev 4582)
@@ -18,7 +18,7 @@
//b0 = [ 0 0 0];
//b1 = [-10 1 -2];
b0 = [ 0 0 0 ];
-b1 = [ 1 0 -5];
+b1 = [ 0 0 -1 ];
[fo_traj] = sbb_gen_traj(time, dyn, max_speed, max_accel, b0, b1);
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antoine drouin <=