From 82c8e528dd71433bb9336c3109421f21cebeceaf Mon Sep 17 00:00:00 2001 From: Uwe Fechner Date: Sun, 27 Oct 2024 12:25:56 +0100 Subject: [PATCH] some fixes --- examples/joystick.jl | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/examples/joystick.jl b/examples/joystick.jl index 0a0ad8b4..1d18c145 100644 --- a/examples/joystick.jl +++ b/examples/joystick.jl @@ -16,12 +16,12 @@ if ! @isdefined js; const jsbuttons = JSButtonState() async_read!(js, jsaxes, jsbuttons) end -wcs::WCSettings = WCSettings(); wcs.dt = 1/set.sample_freq -fcs::FPCSettings = FPCSettings(dt=wcs.dt) -fpps::FPPSettings = FPPSettings() +wcs::WCSettings = WCSettings(true, dt = 1/set.sample_freq) +fcs::FPCSettings = FPCSettings(true, dt=wcs.dt) +fpps::FPPSettings = FPPSettings(true) u_d0 = 0.01 * set.depower_offset u_d = 0.01 * set.depower -ssc::SystemStateControl = SystemStateControl(wcs, fcs, fpps; u_d0, u_d) +ssc::SystemStateControl = SystemStateControl(wcs, fcs, fpps; u_d0, u_d, v_wind = set.v_wind) dt::Float64 = wcs.dt # the following values can be changed to match your interest @@ -51,7 +51,8 @@ function simulate(integrator) depower = KiteControllers.get_depower(ssc) # println("dp: ", dp) if depower < 0.22; depower = 0.22; end - steering = calc_steering(ssc, jsaxes.x) + heading = calc_heading(app.kps4; neg_azimuth=true) + steering = calc_steering(ssc, jsaxes.x; heading) set_depower_steering(kps4.kcu, depower, steering) println("depower: ", depower, " steering: ", round(steering, digits=3)) # set_depower_steering(kps4.kcu, depower, jsaxes.x)