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Commit stored parameters

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Update shear parameters based on estimator
This commit is contained in:
Jaeyoung-Lim
2023-11-21 13:43:09 +01:00
parent 99bcd08c5a
commit 54746a96c3
1 changed files with 10 additions and 0 deletions
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src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.cpp
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@@ -198,6 +198,12 @@ FixedwingPositionINDIControl::parameters_update()
_shear_heading = _param_shear_heading.get() / 180.f * M_PI_F + M_PI_2_F;
_shear_h_ref = _param_shear_height.get();
_select_loiter_trajectory();
} else {
_shear_v_max = _param_shear_estimated_v_max.get();
_shear_alpha = _param_shear_estimated_alpha.get();
_shear_h_ref = _param_shear_estimated_h_ref.get();
_shear_heading = _param_shear_estimated_heading.get();
}
@@ -434,9 +440,13 @@ FixedwingPositionINDIControl::soaring_estimator_shear_poll()
// the initial speed of the target trajectory can safely be updated during soaring :)
_shear_aspd = _soaring_estimator_shear.aspd;
_param_shear_estimated_v_max.set(_shear_v_max);
_param_shear_estimated_v_max.commit()
_param_shear_estimated_alpha.set(_shear_alpha);
_param_shear_estimated_alpha.commit()
_param_shear_estimated_h_ref.set(_shear_h_ref);
_param_shear_estimated_h_ref.commit()
_param_shear_estimated_heading.set(_shear_heading);
_param_shear_estimated_heading.commit()
}
}