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tuned incremental low-level controller, no oscillations

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Marvin Harms
2022-04-27 19:03:50 +02:00
parent 31ac4634b7
commit 2a470fc290
3 changed files with 50 additions and 34 deletions
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src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.hpp
+3 -1
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@@ -265,10 +265,12 @@ private:
// filter variables
Vector<Vector3f, 3> _f_list; // force
Vector<Vector3f, 3> _m_list; // moment
Vector<Vector3f, 3> _w_list; // body rates
Vector<Vector3f, 3> _a_list; // linear accel
Vector<Vector3f, 3> _l_list; // angular accel
Vector<Vector3f, 2> _f_lpf_list;
Vector<Vector3f, 2> _m_lpf_list;
Vector<Vector3f, 2> _m_lpf_list;
Vector<Vector3f, 2> _w_lpf_list; // body rates
Vector<Vector3f, 2> _a_lpf_list;
Vector<Vector3f, 2> _l_lpf_list;