if __name__ == '__main__':
context = zmq.Context(1)
publisher = context.socket(zmq.PUB)
publisher.bind("tcp://*:5563")
print "reading config..."
# conf = readConfig('stingray.ini','configspec.ini')
conf = readConfig('config.ini', 'configspec.ini')
print "creating model..."
dae = models.crosswind(conf) #,extraParams=['endTime'])
nk = 30
# setup MHE
mhe = Nmhe(dae, nk)
# bounds
mhe.bound('aileron', (-0.04, 0.04))
mhe.bound('elevator', (-0.1, 0.3))
mhe.bound('x', (-200, 200))
mhe.bound('y', (-200, 200))
if 'minAltitude' in conf:
mhe.bound('z', (conf['minAltitude'], 200))
else:
mhe.bound('z', (0.5, 200))
mhe.bound('r', (1, 200))
mhe.bound('dr', (-30, 30))
for e in ['e11', 'e21', 'e31', 'e12', 'e22', 'e32', 'e13', 'e23', 'e33']:
