def getDesiredMoments(self, rocketState, environment, targetOrientation,
time, dt):
'''
Inputs:
gainKeyList: iterable of length nKeyColumns, containing the data required to interpolate the PIDxy and PIDz coefficients in the gain table
rocketState: must have .orientation attribute (Quaternion)
targetOrientation: (Quaternion)
_: currently unused (time argument)
dt: (numeric) time since last execution of the control system
'''
orientationError = self._getOrientationError(rocketState,
targetOrientation)
gainKeyList = AeroParameters.getAeroPropertiesList(
self.keyFunctionList, rocketState, environment)
self.updateCoefficientsFromGainTable(gainKeyList)
return self.getNewSetPoint(orientationError, dt)
def _getAeroCoefficients(self, state, environment):
keys = AeroParameters.getAeroPropertiesList(self.parameterFunctions,
state, environment)
if len(keys) > 1:
# Multi-dimensional linear interpolation
interpolatedCoefficients = self._interpAeroCoefficients(keys)[0]
else:
# 1D linear interpolation
interpolatedCoefficients = linInterp(self.keys, self.values,
keys[0])
aeroCoefficients = [0.0] * 5
for i in range(len(interpolatedCoefficients)):
indexInCoeffArray = self.aeroCoeffIndices[i]
aeroCoefficients[indexInCoeffArray] = interpolatedCoefficients[i]
return aeroCoefficients
def setTargetActuatorDeflections(self, desiredMoments, state, environment,
time):
'''
Inputs:
desiredMoments: (3-length iterable) contains desired moments about the x,y,and z axes
time: time at which the moments are requested (time of current control loop execution)
'''
# Construct key vector, starting with non-moment components:
keyVector = AeroParameters.getAeroPropertiesList(
self.keyFunctionList, state, environment)
for desiredMoment in desiredMoments:
keyVector.append(desiredMoment)
newActuatorPositionTargets = self._getPositionTargets(*keyVector)
for i in range(len(self.actuatorList)):
self.actuatorList[i].setTargetDeflection(
newActuatorPositionTargets[i], time)
return list(newActuatorPositionTargets)
