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Kcu steering #104

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Kcu steering #104

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c966150
Bump KiteUtils
ufechner7 Jan 23, 2025
b6e0741
log kcu_steering
ufechner7 Jan 23, 2025
d8b63c2
add kcu_steering to KPS3
ufechner7 Jan 23, 2025
5cd060d
add file to .gitignore
ufechner7 Jan 23, 2025
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2 changes: 1 addition & 1 deletion Project.toml
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Original file line number Diff line number Diff line change
Expand Up @@ -50,7 +50,7 @@ DocStringExtensions = "0.8, 0.9"
Documenter = "1.0"
Interpolations = "0.15"
KitePodModels = "0.3.6"
KiteUtils = "0.9.5"
KiteUtils = "0.9.7"
LaTeXStrings = "1.4.0"
ModelingToolkit = "~9.54.0"
NLsolve = "4.5"
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2 changes: 2 additions & 0 deletions src/KPS3.jl
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Expand Up @@ -142,6 +142,8 @@ $(TYPEDFIELDS)
depower::S = 0.0
"actual relative steering setting, must be between -1.0 .. 1.0"
steering::S = 0.0
"steering after the kcu, before applying offset and depower sensitivity, -1.0 .. 1.0"
kcu_steering::S = 0.0
"factor for the tether stiffness, used to find the steady state with a low stiffness first"
stiffness_factor::S = 1.0
"initial masses of the point masses"
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2 changes: 2 additions & 0 deletions src/KPS4.jl
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Expand Up @@ -163,6 +163,8 @@ $(TYPEDFIELDS)
depower::S = 0.0
"actual relative steering setting, must be between -1.0 .. 1.0"
steering::S = 0.0
"steering after the kcu, before applying offset and depower sensitivity, -1.0 .. 1.0"
kcu_steering::S = 0.0
"multiplier for the stiffniss of tether and bridle"
stiffness_factor::S = 1.0
"initial masses of the point masses"
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4 changes: 3 additions & 1 deletion src/KiteModels.jl
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Expand Up @@ -157,10 +157,11 @@ Parameters:
This function sets the variables s.depower, s.steering and s.alpha_depower.

It takes the depower offset c0 and the dependency of the steering sensitivity from
the depower settings into account.
the depower settings into account. The raw steering value is stored in s.kcu_steering.
"""
function set_depower_steering!(s::AKM, depower, steering)
s.depower = depower
s.kcu_steering = steering
s.alpha_depower = calc_alpha_depower(s.kcu, depower)
s.steering = (steering - s.set.c0) / (1.0 + s.set.k_ds * (s.alpha_depower / deg2rad(s.set.alpha_d_max)))
nothing
Expand Down Expand Up @@ -427,6 +428,7 @@ function update_sys_state!(ss::SysState, s::AKM, zoom=1.0)
ss.v_reelout = s.v_reel_out
ss.depower = s.depower
ss.steering = s.steering/s.set.cs_4p
ss.kcu_steering = s.kcu_steering/s.set.cs_4p
ss.vel_kite .= s.vel_kite
ss.t_sim = 0.0
ss.AoA = deg2rad(s.alpha_2)
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