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#include "../include/actuationPlan.hpp"
ActuationPlan::ActuationPlan() {}
ActuationPlan::ActuationPlan(SurfaceFitModel sFitModel) : sFitModel(sFitModel) {
}
void ActuationPlan::runPlan(Vehicle& rocket) {
if (rocket.imuReadFail || rocket.altiReadFail) {
rocket.deployment_angle = deploy_percentage_to_angle(0); // No fin deployment
}
rocket.fail_time = time(nullptr);
// 2024 Mission---------------------------------------------------------------------
if (rocket.status == GLIDE) {
// Fin deployment based on current drag coefficient value
try {
double cd = sFitModel.getFit(rocket.filtered_velocity, rocket.filtered_altitude);
cd = std::min(std::max(0.0, cd), 100.0);
rocket.deployment_angle = deploy_percentage_to_angle(cd);
}
// Full deployment during coasting
catch (...) {
rocket.deployment_angle = deploy_percentage_to_angle(0);
if ((time(nullptr) - rocket.deploy_time) > 2 && (time(nullptr) - rocket.deploy_time) < 7) {
rocket.deployment_angle = deploy_percentage_to_angle(100);
}
}
}
else if (rocket.status == APOGEE) {
rocket.deployment_angle = deploy_percentage_to_angle(50);
}
else {
rocket.deploy_time = time(nullptr);
}
// End 2024 Mission------------------------------------------------------------------
}
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