From b859b42788bff6b17305ba9e8fdebedbfb697c89 Mon Sep 17 00:00:00 2001
From: Carlo Tibaldi <tlbl@dtu.dk>
Date: Thu, 4 Aug 2016 14:23:21 +0200
Subject: [PATCH] fixed one problem and added test
---
wetb/control/control.py | 15 +++++++--------
wetb/control/tests/test_control.py | 8 ++++----
2 files changed, 11 insertions(+), 12 deletions(-)
diff --git a/wetb/control/control.py b/wetb/control/control.py
index 921fbce2..1d378c53 100644
--- a/wetb/control/control.py
+++ b/wetb/control/control.py
@@ -42,7 +42,6 @@ class Control(object):
Returns
-------
-
kp: float
Proportional gain [rad/(rad/s)]
ki: float
@@ -54,11 +53,11 @@ class Control(object):
"""
- pitch *= np.pi/180.
- I *= 1e-3
- dQdt *= 180./np.pi
- Omr *= np.pi/30.
- om *= 2.*np.pi
+ pitch = pitch * np.pi/180.
+ I = I * 1e-3
+ dQdt = dQdt * 180./np.pi
+ Omr = Omr * np.pi/30.
+ om = om * 2.*np.pi
# Quadratic fitting of dQdt
A = np.ones([dQdt.shape[0], 3])
@@ -73,8 +72,8 @@ class Control(object):
kp = -(2*csi*om*I[0] - P/(Omr**2))/x[2]
ki = -(om**2*I[0])/x[2]
- K1 = x[2]/x[0] * (180./np.pi)
- K2 = x[2]/x[1] * (180./np.pi)**2
+ K1 = x[2]/x[1]*(180./np.pi)
+ K2 = x[2]/x[0]*(180./np.pi)**2
return kp, ki, K1, K2
diff --git a/wetb/control/tests/test_control.py b/wetb/control/tests/test_control.py
index 2d4b68d8..f16b6aa1 100644
--- a/wetb/control/tests/test_control.py
+++ b/wetb/control/tests/test_control.py
@@ -61,10 +61,10 @@ class TestControl(unittest.TestCase):
self.dQdt[i:],
P, Omr, om, csi)
- self.assertEqual(kp, 1.5960902436444313)
- self.assertEqual(ki, 0.71632362627138402)
- self.assertEqual(K1, 10.463887621856747)
- self.assertEqual(K2, 573.59471652017498)
+ self.assertEqual(kp, 1.596090243644432)
+ self.assertEqual(ki, 0.71632362627138424)
+ self.assertEqual(K1, 10.01111637532056)
+ self.assertEqual(K2, 599.53659803157643)
if __name__ == "__main__":
--
GitLab