model

Tests.HorizonRefusals.Driver

One misconfigured horizon, fed a level stream

Public declarations

Explicit source declarations; dimensions, modifications and defaults are shown as written, without evaluation.

Role	Name	Type	Dimensions / attributes / default
parameter	`samplePeriod`	`Real`	`= 0.00125`
parameter	`fusionPeriod_s`	`Real`	`= 0.01`
parameter	`fusionHorizon_s`	`Real`	`= 0.05`
parameter	`correctionRateBudget_hz`	`Real`	`= 5.0`

Modelica declarations and implementation

Show parameters, interfaces and source

Parameters, inputs, outputs, defaults and equations from the source file.

model Driver "One misconfigured horizon, fed a level stream"
    parameter Real samplePeriod = 0.00125;
    parameter Real fusionPeriod_s = 0.01;
    parameter Real fusionHorizon_s = 0.05;
    parameter Real correctionRateBudget_hz = 5.0;
    Real elapsed_s(start = 0.0, fixed = true)
      "Continuous anchor; not under test";
    Estimation.FusionHorizon.OutputPredictor horizon(
      samplePeriod=samplePeriod,
      fusionPeriod_s=fusionPeriod_s,
      fusionHorizon_s=fusionHorizon_s,
      correctionRateBudget_hz=correctionRateBudget_hz);
  equation
    der(elapsed_s) = 1.0;
    horizon.reset = false;
    horizon.angularVelocityMeasuredBodyFlu_rad_s = zeros(3);
    horizon.specificForceMeasuredBodyFlu_m_s2 = {0.0, 0.0, 9.81};
    horizon.horizonStateValid = false;
    horizon.horizonStateShifted = false;
    horizon.horizonPositionWorldEnu_m = zeros(3);
    horizon.horizonVelocityWorldEnu_m_s = zeros(3);
    horizon.horizonQuaternionWorldBody = {1.0, 0.0, 0.0, 0.0};
    horizon.horizonGyroscopeBiasBodyFlu_rad_s = zeros(3);
    horizon.horizonAccelerometerBiasBodyFlu_m_s2 = zeros(3);
    annotation(experiment(StartTime=0.0, StopTime=0.02,
      Tolerance=1.0e-8, Interval=0.001));
  end Driver;