From 8c65424b343d865651d051c7c945e4d3e3ad1469 Mon Sep 17 00:00:00 2001 From: Marvin Harms Date: Sat, 20 Aug 2022 10:42:03 +0200 Subject: [PATCH] changed back to successful wind estimation --- .../fw_dyn_soar_control/FixedwingPositionINDIControl.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.cpp b/src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.cpp index 7366ceeafe..62b5dcf075 100644 --- a/src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.cpp +++ b/src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.cpp @@ -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));