diff options
Diffstat (limited to 'uav_sim_step.m')
| -rw-r--r-- | uav_sim_step.m | 5 |
1 files changed, 3 insertions, 2 deletions
diff --git a/uav_sim_step.m b/uav_sim_step.m index 65fb36f..2130a3d 100644 --- a/uav_sim_step.m +++ b/uav_sim_step.m @@ -104,7 +104,7 @@ ref_step = ones(1, nsamp); % 1d step function in_step_x = [ noise; step_size_h * ref_step; zeros(2, nsamp) ]; in_step_y = [ noise; zeros(1, nsamp); step_size_h * ref_step; zeros(1, nsamp) ]; -in_step_z = [ noise; zeros(2, nsamp); step_size_v * ref_step ]; +in_step_z = [ noise; zeros(2, nsamp); -step_size_v * ref_step ]; % z points down % Simulation time t = linspace(0, T, nsamp); @@ -152,7 +152,7 @@ if do_plots % Plot limits alpha_max_deg = params.actuators.ServoAbsMaxAngle * to_deg; - euler_lim_deg = 1.5; + euler_lim_deg = .5; omega_max_rpm = (params.actuators.PropellerMaxAngularVelocity ... - params.linearization.Inputs(5)) * to_rpm; omega_min_rpm = -params.linearization.Inputs(5) * to_rpm; @@ -298,6 +298,7 @@ if do_plots % Plot step response from vertical reference to vertical position subplot(2, 2, 3); hold on; plot(t, out_step_z(:, idx.PlotPosition(3))); + plot(t, out_step_z(:, idx.PlotReference(3)), '--'); grid on; title('Vertical Position', 'Interpreter', 'latex'); ylabel('Distance (meters)', 'Interpreter', 'latex'); |