pathfinder-for-autonomous-navigation / psim

Six DOF flight simulator and related GNC implementations.

MIT License

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Update MATLAB to use int64 GPS time and real control cycle duration. #219

Closed nhz2 closed 4 years ago

nhz2 commented 4 years ago

Update MATLAB to use int64 GPS time and real control cycle duration.

Fixes #213

Summary of changes

actuators, actuator commands, and sensor readings now use int64 ns from GPS epoch instead of double s from PAN epoch.
Changed control cycle time from 100ms to 120ms to match flight software.
Added some useful constants for conversion from GPS time to PAN time.

Ptest Effects

None, Ptest is using its own time for now.

Testing

MATLAB/run_tests.m passes. teensy36 tests pass.

Constants

Changed const.dt = int64(1e8); to const.dt = int64(120e6);

Added:

const.INIT_GPSNS= int64(const.INITGPS_WN)*int64(1E9)*int64(7*24*60*60);
% INITGPS_WN in nanoseconds (ns)

Documentation Evidence

Updated MATLAB/README.md