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TECS: move to new control loop architecture

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Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst
2021-01-13 21:21:07 +03:00
committed by Roman Bapst
parent 447e14906c
commit 01f891618b
5 changed files with 89 additions and 131 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
+2 -4
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@@ -395,7 +395,7 @@ private:
(ParamFloat<px4::params::FW_T_CLMB_MAX>) _param_fw_t_clmb_max,
(ParamFloat<px4::params::FW_T_HRATE_FF>) _param_fw_t_hrate_ff,
(ParamFloat<px4::params::FW_T_HRATE_P>) _param_fw_t_hrate_p,
(ParamFloat<px4::params::FW_T_ALT_TC>) _param_fw_t_h_error_tc,
(ParamFloat<px4::params::FW_T_INTEG_GAIN>) _param_fw_t_integ_gain,
(ParamFloat<px4::params::FW_T_PTCH_DAMP>) _param_fw_t_ptch_damp,
(ParamFloat<px4::params::FW_T_RLL2THR>) _param_fw_t_rll2thr,
@@ -403,10 +403,8 @@ private:
(ParamFloat<px4::params::FW_T_SINK_MIN>) _param_fw_t_sink_min,
(ParamFloat<px4::params::FW_T_SPD_OMEGA>) _param_fw_t_spd_omega,
(ParamFloat<px4::params::FW_T_SPDWEIGHT>) _param_fw_t_spdweight,
(ParamFloat<px4::params::FW_T_SRATE_P>) _param_fw_t_srate_p,
(ParamFloat<px4::params::FW_T_TAS_TC>) _param_fw_t_tas_error_tc,
(ParamFloat<px4::params::FW_T_THR_DAMP>) _param_fw_t_thr_damp,
(ParamFloat<px4::params::FW_T_THRO_CONST>) _param_fw_t_thro_const,
(ParamFloat<px4::params::FW_T_TIME_CONST>) _param_fw_t_time_const,
(ParamFloat<px4::params::FW_T_VERT_ACC>) _param_fw_t_vert_acc,
(ParamFloat<px4::params::FW_T_STE_R_TC>) _param_ste_rate_time_const,
(ParamFloat<px4::params::FW_T_TAS_R_TC>) _param_tas_rate_time_const,