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changed freequency, reduced gyro cutoff for noise

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This commit is contained in:
Marvin Harms
2022-06-24 19:42:11 +02:00
parent cced080e5b
commit 0d6d749a38
2 changed files with 3 additions and 3 deletions
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src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.cpp
+2 -2
View File
@@ -58,7 +58,7 @@ FixedwingPositionINDIControl::FixedwingPositionINDIControl() :
_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle"))
{
// limit to 100 Hz
_vehicle_angular_velocity_sub.set_interval_ms(1000/_sample_frequency);
_vehicle_angular_velocity_sub.set_interval_ms(1000.f/_sample_frequency);
/* fetch initial parameter values */
@@ -606,7 +606,7 @@ FixedwingPositionINDIControl::Run()
wind(1) = _lp_filter_wind[1].apply(wind(1));
wind(2) = _lp_filter_wind[2].apply(wind(2));
_set_wind_estimate(wind);
PX4_INFO("wind estimate:\t%.4f\t%.4f\t%.4f", (double)_wind_estimate(0),(double)_wind_estimate(1),(double)_wind_estimate(2));
//PX4_INFO("wind estimate:\t%.4f\t%.4f\t%.4f", (double)_wind_estimate(0),(double)_wind_estimate(1),(double)_wind_estimate(2));
// only run actuators poll, when our module is not publishing:
src/modules/sensors/vehicle_angular_velocity/imu_gyro_parameters.c
+1 -1
View File
@@ -80,7 +80,7 @@ PARAM_DEFINE_FLOAT(IMU_GYRO_NF_BW, 20.0f);
* @reboot_required true
* @group Sensors
*/
PARAM_DEFINE_FLOAT(IMU_GYRO_CUTOFF, 30.0f);
PARAM_DEFINE_FLOAT(IMU_GYRO_CUTOFF, 10.0f);
/**
* Gyro control data maximum publication rate