| export const DEADBAND_DEG = 0.3, RATE_DEADBAND_DPS = 0.3; | |
| export function dapStep(current, desired, dt) { | |
| // PD with deadband — RECONSTRUCTED simplification of phase-plane | |
| const errP = desired.pitch - current.pitch; | |
| const errR = desired.roll - current.roll; | |
| const errY = desired.yaw - current.yaw; | |
| const jets = []; | |
| if (Math.abs(errP) > DEADBAND_DEG || Math.abs(current.rate[1]) > RATE_DEADBAND_DPS) | |
| jets.push(errP > 0 ? "P+" : "P-"); | |
| if (Math.abs(errR) > DEADBAND_DEG) | |
| jets.push(errR > 0 ? "R+" : "R-"); | |
| if (Math.abs(errY) > DEADBAND_DEG) | |
| jets.push(errY > 0 ? "Y+" : "Y-"); | |
| // gimbal trim — DOCUMENTED TRIM_GIMBAL_CONTROL_SYSTEM 1472-1484 | |
| const gimbal = [errP * 0.01, errY * 0.01]; | |
| return { jets, gimbal }; | |
| } | |
| /** Gimbal lock avoidance — DOCUMENTED GIMBAL_LOCK_AVOIDANCE 364 */ | |
| export function checkGimbalLock(cduMiddleDeg) { | |
| return Math.abs(cduMiddleDeg) > 85; // DOCUMENTED threshold ~85° | |
| } | |
| //# sourceMappingURL=control.js.map |