From c7a2f075e83830255dd2e3953df7fc7be101d94c Mon Sep 17 00:00:00 2001 From: Uwe Fechner Date: Sun, 27 Oct 2024 05:49:50 +0100 Subject: [PATCH] works fine now --- examples/parking_1p.jl | 12 +++++++----- 1 file changed, 7 insertions(+), 5 deletions(-) diff --git a/examples/parking_1p.jl b/examples/parking_1p.jl index 63a90168..b70eca4c 100644 --- a/examples/parking_1p.jl +++ b/examples/parking_1p.jl @@ -9,23 +9,27 @@ using KiteUtils set = deepcopy(load_settings("system.yaml")) set.abs_tol=0.00000006 set.rel_tol=0.0000001 +set.v_wind = 8.5 using KiteControllers, KiteViewers, KiteModels, ControlPlots, Rotations kcu::KCU = KCU(set) kps::KPS3 = KPS3(kcu) wcs::WCSettings = WCSettings(dt = 1/set.sample_freq) +update(wcs); wcs.dt = 1/set.sample_freq fcs::FPCSettings = FPCSettings(dt = wcs.dt) +update(fcs); fcs.dt = wcs.dt fpps::FPPSettings = FPPSettings() +update(fpps) u_d0 = 0.01 * set.depower_offset u_d = 0.01 * set.depower ssc::SystemStateControl = SystemStateControl(wcs, fcs, fpps; u_d0, u_d, v_wind = set.v_wind) dt::Float64 = wcs.dt # result of tuning, factor 0.9 to increase robustness -fcs.p = 13.63*0.9 +fcs.p = 13.63*0.4 fcs.i = 0.1 -fcs.d = 27.75*0.9 +fcs.d = 27.75*0.5 MIN_DEPOWER = 0.22 # the following values can be changed to match your interest @@ -51,8 +55,6 @@ function simulate(integrator) on_new_systate(ssc, sys_state) while true if i > 100 - depower = KiteControllers.get_depower(ssc) - if depower < MIN_DEPOWER; depower = MIN_DEPOWER; end heading = calc_heading(kps; neg_azimuth=true, one_point=false) steering = calc_steering(ssc, 0; heading) time = i * dt @@ -60,7 +62,7 @@ function simulate(integrator) if time > 20 && time < 21 steering = 0.1 end - set_depower_steering(kps.kcu, depower, steering) + set_depower_steering(kps.kcu, MIN_DEPOWER, steering) end v_ro = 0.0 t_sim = @elapsed KiteModels.next_step!(kps, integrator; set_speed=v_ro, dt=dt)