From 6886498dfa1b8347c545a8474e15b4009f699467 Mon Sep 17 00:00:00 2001 From: Marvin Harms Date: Thu, 28 Apr 2022 11:59:16 +0200 Subject: [PATCH] decreased filter cutoff frequenmcy to 5Hz, nocoscillations --- .../fw_dyn_soar_control/fw_dyn_soar_control_params.c | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/src/modules/fw_dyn_soar_control/fw_dyn_soar_control_params.c b/src/modules/fw_dyn_soar_control/fw_dyn_soar_control_params.c index 4bd3846bea..9203089210 100644 --- a/src/modules/fw_dyn_soar_control/fw_dyn_soar_control_params.c +++ b/src/modules/fw_dyn_soar_control/fw_dyn_soar_control_params.c @@ -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 ======================