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added FF term to turn coordination

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This commit is contained in:
Marvin Harms
2022-06-21 11:19:56 +02:00
parent 470ed93972
commit 258da619e0
2 changed files with 5 additions and 5 deletions
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src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.cpp
+1 -1
View File
@@ -1183,7 +1183,7 @@ FixedwingPositionINDIControl::_compute_INDI_stage_1(Vector3f pos_ref, Vector3f v
}
// not really a accel command, rather a FF-P command
rot_acc_command(2) = _K_w(2,2)*(omega_turn_ref(2) - omega_filtered(2));
rot_acc_command(2) = _K_q(2,2)*omega_turn_ref(2) + _K_w(2,2)*(omega_turn_ref(2) - omega_filtered(2));
return rot_acc_command;
}
src/modules/fw_dyn_soar_control/fw_dyn_soar_control_params.c
+4 -4
View File
@@ -400,7 +400,7 @@ PARAM_DEFINE_FLOAT(DS_K_Q_PITCH, 10.0f);
* @increment 0.1
* @group FW DYN SOAR Control
*/
PARAM_DEFINE_FLOAT(DS_K_Q_YAW, 2.0f);
PARAM_DEFINE_FLOAT(DS_K_Q_YAW, 0.5f);
/**
* roll gain of K_W (angular velocity error gain)
@@ -528,7 +528,7 @@ PARAM_DEFINE_FLOAT(DS_K_DAMP_YAW, 0.0f);
* @increment 0.0000001
* @group FW DYN SOAR Control
*/
PARAM_DEFINE_FLOAT(DS_ORIGIN_LAT, 47.3135000f);
PARAM_DEFINE_FLOAT(DS_ORIGIN_LAT, 47.4040182f);
/**
* longitude of trajectory start point (WGS84)
@@ -540,7 +540,7 @@ PARAM_DEFINE_FLOAT(DS_ORIGIN_LAT, 47.3135000f);
* @increment 0.0000001
* @group FW DYN SOAR Control
*/
PARAM_DEFINE_FLOAT(DS_ORIGIN_LON, 8.8101000f);
PARAM_DEFINE_FLOAT(DS_ORIGIN_LON, 8.5101919f);
/**
* altitude of trajectory start point (WGS84)
@@ -552,7 +552,7 @@ PARAM_DEFINE_FLOAT(DS_ORIGIN_LON, 8.8101000f);
* @increment 0.1
* @group FW DYN SOAR Control
*/
PARAM_DEFINE_FLOAT(DS_ORIGIN_ALT, 537.0f);
PARAM_DEFINE_FLOAT(DS_ORIGIN_ALT, 540.0f);
// ======================================================
// ============== loiter circle number =================