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decreased filter cutoff frequenmcy to 5Hz, nocoscillations

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This commit is contained in:
Marvin Harms
2022-04-28 11:59:16 +02:00
parent 81c62bef24
commit 6886498dfa
1 changed files with 5 additions and 5 deletions
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src/modules/fw_dyn_soar_control/fw_dyn_soar_control_params.c
+5 -5
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@@ -179,7 +179,7 @@ PARAM_DEFINE_FLOAT(C_D2, 1.984f);
* @increment 0.0001
* @group FW DYN SOAR Control
*/
PARAM_DEFINE_FLOAT(FILTER_A1, 0.53010968f);
PARAM_DEFINE_FLOAT(FILTER_A1, 1.16826067f);
/**
* coefficients of the butterworth filter used for smoothing the IMU
@@ -191,7 +191,7 @@ PARAM_DEFINE_FLOAT(FILTER_A1, 0.53010968f);
* @increment 0.0001
* @group FW DYN SOAR Control
*/
PARAM_DEFINE_FLOAT(FILTER_A2, -0.22169409f);
PARAM_DEFINE_FLOAT(FILTER_A2, -0.42411821f);
/**
* coefficients of the butterworth filter used for smoothing the IMU
@@ -203,7 +203,7 @@ PARAM_DEFINE_FLOAT(FILTER_A2, -0.22169409f);
* @increment 0.0001
* @group FW DYN SOAR Control
*/
PARAM_DEFINE_FLOAT(FILTER_B1, 0.1728961f);
PARAM_DEFINE_FLOAT(FILTER_B1, 0.06396438f);
/**
* coefficients of the butterworth filter used for smoothing the IMU
@@ -215,7 +215,7 @@ PARAM_DEFINE_FLOAT(FILTER_B1, 0.1728961f);
* @increment 0.0001
* @group FW DYN SOAR Control
*/
PARAM_DEFINE_FLOAT(FILTER_B2, 0.3457922f);
PARAM_DEFINE_FLOAT(FILTER_B2, 0.12792877f);
/**
* coefficients of the butterworth filter used for smoothing the IMU
@@ -227,7 +227,7 @@ PARAM_DEFINE_FLOAT(FILTER_B2, 0.3457922f);
* @increment 0.0001
* @group FW DYN SOAR Control
*/
PARAM_DEFINE_FLOAT(FILTER_B3, 0.1728961f);
PARAM_DEFINE_FLOAT(FILTER_B3, 0.06396438f);
// ========================================================
// =================== CONTROL GAINS ======================