add set_speed

ufechner7 · Nov 28, 2024 · c9fe595 · c9fe595
1 parent e1987c5
commit c9fe595
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Showing 10 changed files with 23 additions and 14 deletions.
diff --git a/data/Test_flight.arrow b/data/Test_flight.arrow
diff --git a/src/_demo_syslog.jl b/src/_demo_syslog.jl
@@ -42,6 +42,7 @@ function demo_syslog(P, name="Test flight"; duration=10)
     Y_vec = Vector{MVector{P, MyFloat}}(undef, steps)
     Z_vec = Vector{MVector{P, MyFloat}}(undef, steps)
     set_torque_vec = Vector{MyFloat}(undef, steps)
+    set_speed_vec = Vector{MyFloat}(undef, steps)
     set_force_vec = Vector{MyFloat}(undef, steps)
     roll_vec = Vector{MyFloat}(undef, steps)
     pitch_vec = Vector{MyFloat}(undef, steps)
@@ -96,6 +97,7 @@ function demo_syslog(P, name="Test flight"; duration=10)
         Y_vec[i+1] = state.Y
         Z_vec[i+1] = state.Z
         set_torque_vec[i+1] = state.set_torque
+        set_speed_vec[i+1] = state.set_speed
         set_force_vec[i+1] = state.set_force
         roll_vec[i+1] = state.roll
         pitch_vec[i+1] = state.pitch
@@ -122,8 +124,8 @@ function demo_syslog(P, name="Test flight"; duration=10)
                               depower_vec, steering_vec, heading_vec, course_vec, v_app_vec, v_wind_gnd_vec, 
                               v_wind_200m_vec, v_wind_kite_vec, AoA_vec, alpha3_vec, alpha4_vec, CL2_vec, 
                               CD2_vec, vel_kite_vec, acc_vec, X_vec, Y_vec, Z_vec, 
-                              set_torque_vec, set_force_vec, roll_vec, pitch_vec, yaw_vec, var_01_vec, 
-                              var_02_vec, var_03_vec, var_04_vec, var_05_vec, var_06_vec, var_07_vec, 
-                              var_08_vec, var_09_vec, var_10_vec, var_11_vec, var_12_vec, var_13_vec, 
-                              var_14_vec, var_15_vec, var_16_vec))
+                              set_torque_vec, set_speed_vec, set_force_vec, roll_vec, pitch_vec, yaw_vec, 
+                              var_01_vec, var_02_vec, var_03_vec, var_04_vec, var_05_vec, var_06_vec, 
+                              var_07_vec, var_08_vec, var_09_vec, var_10_vec, var_11_vec, var_12_vec, 
+                              var_13_vec, var_14_vec, var_15_vec, var_16_vec))
 end
diff --git a/src/_load_log.jl b/src/_load_log.jl
@@ -46,10 +46,10 @@ function load_log(filename::String; path="")
                                        table.course, table.v_app, table.v_wind_gnd, table.v_wind_200m, table.v_wind_kite, 
                                        table.AoA, table.alpha3, table.alpha4, table.CL2, table.CD2, 
                                        table.vel_kite, table.acc, table.X, table.Y, table.Z, 
-                                       table.set_torque, table.set_force, table.roll, table.pitch, table.yaw, 
-                                       table.var_01, table.var_02, table.var_03, table.var_04, table.var_05, 
-                                       table.var_06, table.var_07, table.var_08, table.var_09, table.var_10, 
-                                       table.var_11, table.var_12, table.var_13, table.var_14, table.var_15, 
-                                       table.var_16))
+                                       table.set_torque, table.set_speed, table.set_force, table.roll, table.pitch, 
+                                       table.yaw, table.var_01, table.var_02, table.var_03, table.var_04, 
+                                       table.var_05, table.var_06, table.var_07, table.var_08, table.var_09, 
+                                       table.var_10, table.var_11, table.var_12, table.var_13, table.var_14, 
+                                       table.var_15, table.var_16))
     return SysLog{P}(basename(fullname[1:end-6]), colmeta, syslog)
 end
diff --git a/src/_log.jl b/src/_log.jl
@@ -44,6 +44,7 @@ function log!(logger::Logger, state::SysState)
     logger.Y_vec[i] = state.Y
     logger.Z_vec[i] = state.Z
     logger.set_torque_vec[i] = state.set_torque
+    logger.set_speed_vec[i] = state.set_speed
     logger.set_force_vec[i] = state.set_force
     logger.roll_vec[i] = state.roll
     logger.pitch_vec[i] = state.pitch

diff --git a/src/_logger.jl b/src/_logger.jl
@@ -49,6 +49,7 @@ $(TYPEDFIELDS)
     Y_vec::Vector{MVector{P, MyFloat}} = zeros(MVector{P, MyFloat}, Q)
     Z_vec::Vector{MVector{P, MyFloat}} = zeros(MVector{P, MyFloat}, Q)
     set_torque_vec::Vector{MyFloat} = zeros(MyFloat, Q)
+    set_speed_vec::Vector{MyFloat} = zeros(MyFloat, Q)
     set_force_vec::Vector{MyFloat} = zeros(MyFloat, Q)
     roll_vec::Vector{MyFloat} = zeros(MyFloat, Q)
     pitch_vec::Vector{MyFloat} = zeros(MyFloat, Q)

diff --git a/src/_save_log.jl b/src/_save_log.jl
@@ -77,6 +77,7 @@ function save_log(logger::Logger, name="sim_log", compress=true;
     resize!(logger.Y_vec, nl)
     resize!(logger.Z_vec, nl)
     resize!(logger.set_torque_vec, nl)
+    resize!(logger.set_speed_vec, nl)
     resize!(logger.set_force_vec, nl)
     resize!(logger.roll_vec, nl)
     resize!(logger.pitch_vec, nl)

diff --git a/src/_show.jl b/src/_show.jl
@@ -34,6 +34,7 @@ function Base.show(io::IO, st::SysState)
     println(io, "Y [m]:             ", st.Y)
     println(io, "Z [m]:             ", st.Z)
     println(io, "set_torque [Nm]:   ", st.set_torque)
+    println(io, "set_speed [m/s]:   ", st.set_speed)
     println(io, "set_force [N]:     ", st.set_force)
     println(io, "roll [rad]:        ", st.roll)
     println(io, "pitch [rad]:       ", st.pitch)

diff --git a/src/_syslog.jl b/src/_syslog.jl
@@ -10,9 +10,9 @@ function syslog(logger::Logger)
                                      l.course_vec, l.v_app_vec, l.v_wind_gnd_vec, l.v_wind_200m_vec, l.v_wind_kite_vec, 
                                      l.AoA_vec, l.alpha3_vec, l.alpha4_vec, l.CL2_vec, l.CD2_vec, 
                                      l.vel_kite_vec, l.acc_vec, l.X_vec, l.Y_vec, l.Z_vec, 
-                                     l.set_torque_vec, l.set_force_vec, l.roll_vec, l.pitch_vec, l.yaw_vec, 
-                                     l.var_01_vec, l.var_02_vec, l.var_03_vec, l.var_04_vec, l.var_05_vec, 
-                                     l.var_06_vec, l.var_07_vec, l.var_08_vec, l.var_09_vec, l.var_10_vec, 
-                                     l.var_11_vec, l.var_12_vec, l.var_13_vec, l.var_14_vec, l.var_15_vec, 
-                                     l.var_16_vec))
+                                     l.set_torque_vec, l.set_speed_vec, l.set_force_vec, l.roll_vec, l.pitch_vec, 
+                                     l.yaw_vec, l.var_01_vec, l.var_02_vec, l.var_03_vec, l.var_04_vec, 
+                                     l.var_05_vec, l.var_06_vec, l.var_07_vec, l.var_08_vec, l.var_09_vec, 
+                                     l.var_10_vec, l.var_11_vec, l.var_12_vec, l.var_13_vec, l.var_14_vec, 
+                                     l.var_15_vec, l.var_16_vec))
 end
diff --git a/src/_sysstate.jl b/src/_sysstate.jl
@@ -73,6 +73,8 @@ Base.@kwdef mutable struct SysState{P}
     Z::MVector{P, MyFloat} = zeros(P)
     "torque setting [Nm]"
     set_torque::MyFloat = 0
+    "speed setting [m/s]"
+    set_speed::MyFloat = 0
     "force setting [N]"
     set_force::MyFloat = 0
     "roll angle [rad]"

diff --git a/src/sysstate.yaml b/src/sysstate.yaml
@@ -30,6 +30,7 @@ sysstate:
     Y: "MVector{P, MyFloat}"            # vector of particle positions in y [m]
     Z: "MVector{P, MyFloat}"            # vector of particle positions in z [m]
     set_torque: "MyFloat"               # torque setting [Nm]
+    set_speed: "MyFloat"                # speed setting [m/s]
     set_force: "MyFloat"                # force setting [N]
     roll: "MyFloat"                     # roll angle [rad]
     pitch: "MyFloat"                    # pitch angle [rad]