From a4383818d68c13ddc57ccd02a4b22864b222ffab Mon Sep 17 00:00:00 2001
From: ucart <ucart_groundstation@iastate.edu>
Date: Sat, 22 Apr 2017 03:44:32 -0500
Subject: [PATCH] found some solid values for take off and touch down
---
groundStation/scripts/take_off.sh | 2 +-
groundStation/scripts/touch_down.sh | 12 ++++++++----
2 files changed, 9 insertions(+), 5 deletions(-)
diff --git a/groundStation/scripts/take_off.sh b/groundStation/scripts/take_off.sh
index 167bd866d..649f5499b 100755
--- a/groundStation/scripts/take_off.sh
+++ b/groundStation/scripts/take_off.sh
@@ -10,7 +10,7 @@ sleep 2
./setsource "T trim add" "summand 1" "Altitude PID" "Correction"
#./setsource 14 0 8 0
-./setparam "Throttle trim" 0 0.45
+./setparam "Throttle trim" 0 0.5
#./setparam 13 0 0.45
./setparam "Alt Setpoint" 0 -0.88
#./setparam 11 0 -0.5
diff --git a/groundStation/scripts/touch_down.sh b/groundStation/scripts/touch_down.sh
index 3bfb41533..79a4bc11d 100755
--- a/groundStation/scripts/touch_down.sh
+++ b/groundStation/scripts/touch_down.sh
@@ -1,6 +1,6 @@
#! /bin/bash
-cut_off="-0.25"
+cut_off="-0.15"
regex='[+-]?[0-9]+\.?[0-9]*$'
@@ -8,9 +8,13 @@ regex='[+-]?[0-9]+\.?[0-9]*$'
alt="$(echo "$(./getparam 'VRPN Alt' 0)" | grep -Eo "$regex")"
while awk 'BEGIN { if ('$alt'>='$cut_off') {exit 1}}'; do
- alt="$(echo "$(./getparam 'VRPN Alt' 0)" | grep -Eo "$regex")"
- ./setparam 'Alt Setpoint' 0 $( bc <<< "$alt + 0.1")
- echo "$alt too high"
+ if (( $(bc <<< "$alt < -0.5") )); then
+ alt="$(echo "$(./getparam 'VRPN Alt' 0)" | grep -Eo "$regex")"
+ ./setparam 'Alt Setpoint' 0 $( bc <<< "$alt + 0.15")
+ else
+ alt="$(echo "$(./getparam 'VRPN Alt' 0)" | grep -Eo "$regex")"
+ ./setparam 'Alt Setpoint' 0 $( bc <<< "$alt + 0.25")
+ fi
sleep .5
done
--
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