hi,
Mein ESP32 berechnet floats in einem Programm falsch im Vergleich zu meinem M4 und meinem M3 / Due
(Arduino IDE 1.8.8 )
nach einer langen Berechnung (1264 Schritte) durch den M4 erhalte ich das Ergebnis 32.843750,
während der ESP32 54196.625 berechnet
Ich habe das auch mit dem Due nochmals getestet und hier bekomme ich auch das Ergebnis 32.843750, genau wie beim M4.
Dies ist der relevante Code:
Der fragliche Wert ist der letzte in den seriellen Ausgabezeilen (TBase.m).Code:// Lunar Lander // preprocessor defaults for time sync: //#define SYNC_REALTIME // real time sync; outcomment for time lapse #if defined (SAM) #include "avr/dtostrf.h" // sprintf() and dtostrf() for floats #endif //---------------------------------------------------- // flight control //---------------------------------------------------- // public: float mFuel=8200; // fuel mass in kg for landing float hi=15300; // act height in m float vHorz=1685; // Horizontal orbital speed m/s float sTargm=470000; // horizontal way to target landing place float burnPerc=0; // user input: burnrate % float ftilt; // tilt horiz...vert -1...0...+1 float tiltDeg; // tilt degrees -90°...0...+90° //---------------------------------------------------- // private: float ti=0.0, dt=0.5; // act time, delta time in sec const float g=1.62; // Moon gravity const float MoonRad=3476000/2.0; // Moon radius const float mLander=6500; // lander mass in kg with launch fuel const float Isp=3050; // Rocket engine Specific Impulse const float FBrake=45000; // Rocket engine max Propulsion Force float burnMax=FBrake/Isp; // absolute max fuel burnrate float mTotal=mLander+mFuel; // brutto weight with full tanks float rBrake; // user Rocket brake force 100%, percentual float dFuel=0; // delta fuel float burnf=0; // burnrate factor 0.0 ... 1.0 float dh=0.0; // delta height in m float scaleH=hi/100; // scaler for tft.hight=100% float vVert=0.0; // Impact speed in m/s float accVert=0; // vertical accel (sum) float accBrake=0; // acc by break rockets float fCentrifug=0; // centrifugal force by orbital speed float accCentrif=0; // centrifugal accel by orbital speed float sHorzm=0.0; // horizontal way flown in m //---------------------------------------------------- // Serial LogBook //---------------------------------------------------- void LogBook(){ char sbuf1[50], sbuf2[50] ; char* headline1 = "t.sec hi.m vVert vHoriz "; char* headline2 = "Burn tilt brake acc Fuel TBase.m"; Serial.print(headline1); Serial.println(headline2); sprintf(sbuf1, "%5.1f %5d %4d %4d ", ti, (int)hi, (int)vVert, (int)vHorz); sprintf(sbuf2, "%3d%% %4d %3.1f %4.1f %5d %f", (int)burnPerc, (int)(ftilt*90), accBrake, accVert, (int)mFuel, (float)(sTargm-sHorzm)); Serial.print(sbuf1); Serial.println(sbuf2); Serial.println(); } uint32_t dtime; //---------------------------------------------------- // Lander Move //---------------------------------------------------- void LanderMove() { static float t0=ti; dtime=millis(); if(hi>0) { // Burn Ratio: // 100 = 100% == full brake power // 50 = 50% == half brake power // 0 = 0% == zero brake power // or anything in between // // 100% BURN RATIO (BRAKE POWER) // => 45000kN propulsion force // => 14,75 kg Fuel burn per second // => brake accelation = 3m/s² // XEROX Board Computer program, debug: if( sHorzm<15600.0) burnPerc=0; // sHorzm<15600 else if( vVert>60||vHorz>30 ) burnPerc=100; // else if(vVert>50) burnPerc=65; else if(vVert>40&&hi<3000) burnPerc=45; else if(vVert>35&&hi<1800) burnPerc=40; else if(vVert>10&&hi<1100) burnPerc=35; else if(vVert>=1&&hi<120) burnPerc=33; else burnPerc=0; // calculate control fCentrifug=vHorz*vHorz*mTotal/(MoonRad+hi); accCentrif=fCentrifug/mTotal; if(mFuel==0) burnPerc=0; // no fuel, no burn ;) burnf = burnPerc/100.0; // factor 0...1 // vvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvv dFuel= burnMax*burnf*dt; // try burnrate: enough fuel? dFuel = min(dFuel, mFuel); // calc available rest fuel burnf = (dFuel/burnMax)/dt; // re-calc burnrate by rest fuel burnPerc = burnf*100; rBrake= FBrake*burnf; // rel brake force accBrake= rBrake/mTotal; // rocket brake acceleration mFuel = max(mFuel-dFuel, (float)0); // rest fuel >=0 mTotal= mLander+mFuel; // new total mass if(vVert>=5 ) { if(vVert>=40 && vHorz>2 ) ftilt=0.65; // 58.5° else if(vVert>=30 && vHorz>2 ) ftilt=0.75; // 67.5° else if(vVert>=20 && vHorz>2 ) ftilt=0.80; // 72.0° else if(vHorz<=2 && vHorz>=-2) ftilt=0.0; else if(vHorz<0) ftilt=0.0; else ftilt=0.85; // 76.5° } else if(vVert<5&&vHorz>20 ) ftilt=1; else ftilt=0; accVert = g - (1-abs(ftilt))*accBrake -accCentrif; vVert = vVert + accVert*dt; // fractional vertical brake if(vHorz>0) vHorz = vHorz - (ftilt)*accBrake*dt; // fractional horizonal brake // vvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvv sHorzm = sHorzm + vHorz*dt; // horizontal way flown dh = 0.5*accVert*dt*dt + vVert*dt ; // delta height by res. grav+centrifug.+brake acc. hi = hi-dh; // new resulting height //----------------------------------------------- // pause #ifdef SYNC_REALTIME while( millis()-dtime < dt*1000 ); #endif //----------------------------------------------- ti+=dt; LogBook(); t0=ti; //----------------------------------------------- // Landing specs/ratings if ( (( hi<=0 && vVert>=5 ) && vVert<8) ) // Damage { Serial.println(); Serial.println(" !! Damage !!"); } else if ( hi<=0 && vVert<5 && abs(sTargm-sHorzm)>100) { // very good Landing but way off burnPerc=0; Serial.println(); Serial.println("Very good but way off!"); } else if ( hi<=0 && vVert<5) { // Perfect Landing burnPerc=0; Serial.println(); Serial.println("Perfect Landing!"); } else if ( hi<=0 ) // B L A S T { Serial.println(); Serial.println(" !!! B L A S T !!!"); } } } //---------------------------------------------------- // setup //---------------------------------------------------- void setup() { #if defined (SAM) asm(".global _printf_float"); // sprintf() and dtostrf() for floats #endif Serial.begin(115200); delay(2000); Serial.println("Serial started!"); sHorzm=0; // way flown Serial.println(); delay(dt*1000); fCentrifug=vHorz*vHorz*mTotal/(MoonRad+hi); accCentrif=fCentrifug/mTotal; accVert=g-accBrake-accCentrif; LogBook(); } //---------------------------------------------------- // loop //---------------------------------------------------- void loop(void) { if (hi>0) { LanderMove(); } }
Eigentlich müsste das M4- und Due-Ergebnis eher das richtige sein ...!
Hat jemand so etwas schon einmal gehört oder gelesen und kann die Rechenergebnisse ggf nachprüfen bzw für M3, M4 und ESP32-Plattformen bestätigen?
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