function

Tests.PositionLoopStabilityTests.massInvarianceResidual

Difference in commanded pitch rate between a 1 kg and a 4 kg vehicle

Public declarations

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

Role	Name	Type	Dimensions / attributes / default	Description
output	`residual_rad_s`	`Real`

Modelica declarations and implementation

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

function massInvarianceResidual
    "Difference in commanded pitch rate between a 1 kg and a 4 kg vehicle"
    output Real residual_rad_s;
  protected
    constant Real gravity = 9.8;
    constant Real attitudeGain[3] = {2.0, 2.0, 1.0};
  algorithm
    residual_rad_s :=
      commandedPitchRate(0.1, 0.0, 0.0, 1.0, gravity, 1.0 * gravity,
        attitudeGain)
      - commandedPitchRate(0.1, 0.0, 0.0, 4.0, gravity, 4.0 * gravity,
        attitudeGain);
  end massInvarianceResidual;