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changed back to successful wind estimation

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Marvin Harms
2022-08-20 10:42:03 +02:00
parent 4ffbb97209
commit 8c65424b34
1 changed files with 1 additions and 1 deletions
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src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.cpp
+1 -1
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@@ -729,7 +729,7 @@ FixedwingPositionINDIControl::Run()
// approximate lift force, since implicit equation cannot be solved analytically:
// since alpha<<1, we approximate the lift force L = sin(alpha)*Fx - cos(alpha)*Fz
// as L = alpha*Fx - Fz
float Fx = 0.f;//cosf(_aoa_offset)*body_force(0) - sinf(_aoa_offset)*body_force(2);
float Fx = cosf(_aoa_offset)*body_force(0) - sinf(_aoa_offset)*body_force(2);
float Fz = -cosf(_aoa_offset)*body_force(2) - sinf(_aoa_offset)*body_force(0);
float AoA_approx = (((2.f*Fz)/(_rho*_area*(fmaxf(_airspeed*_airspeed,_stall_speed*_stall_speed))+0.001f) - _C_L0)/_C_L1) /
(1 - ((2.f*Fx)/(_rho*_area*(fmaxf(_airspeed*_airspeed,_stall_speed*_stall_speed))+0.001f)/_C_L1));