astrobee
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nasa
Ctl simulink to c
@nlinthacum if you have a few minutes, could you put a comment here summarizing the current status? (what's working, what still needs to be fixed)
@bcoltin > I also outlined this in the ctl.cc file in a little more detail Values that are correct: -traj_error_pos, -traj_quat -traj_error_vel -traj_error_omega -ctl_status -pos_err -pos_err_int
Needs fixing: -traj_error_att (I suspect there is a math error here since my value and the old value are the same values, just at different times) -body_force_cmd (Not sure what a reasonable margin of error is for this value, so didn't want to put it as working)
Values that couldn't be tested because they use a value that needs fixing (ie. wrong until the 'need fixing' are fixed): -body_accel_cmd (dependent on body_force_cmd) -att_err_mag (this has the same math issue as traj_error_att, I believe) -body_alpha_cmd (dependent on att_Err_mag) -body_torque_cmd (dependent on body_alpha_cmd)
Let me know if you have any questions, happy to help!