However, max_ps_accel is computed in radians / s / s... not degrees:
max_ps_accel = max(abs(ps_accels)); % rad/s/s
It's also unclear to me why the first element of ps_accels is assigned to 1... shouldn't this be zero? Otherwise, 1 rad / s / s is 57 degrees /s /s... so the computed minimum acceleration will never be below this.
ps_accels(1) = 1;
for i = 2:length(ps_hist)
ps_accels(i) = (ps_hist(i) - ps_hist(i-1))/(time(i) - time(i-1));
end
pheidlauf
commented
6 years ago
The rate limit check for ps_accel is as follows:
if(max_ps_accel > flightLimits.psMaxAccelDeg)However, max_ps_accel is computed in radians / s / s... not degrees:
max_ps_accel = max(abs(ps_accels)); % rad/s/sIt's also unclear to me why the first element of
ps_accelsis assigned to 1... shouldn't this be zero? Otherwise, 1 rad / s / s is 57 degrees /s /s... so the computed minimum acceleration will never be below this.