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tuned params, reduce num points to 100

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This commit is contained in:
Marvin Harms
2022-04-28 15:29:41 +02:00
parent 6886498dfa
commit 8f77790f24
2 changed files with 11 additions and 5 deletions
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src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.cpp
+10 -4
View File
@@ -384,9 +384,15 @@ FixedwingPositionINDIControl::_read_trajectory_coeffs_csv()
void
FixedwingPositionINDIControl::Run()
{
// only run controller if pos, vel, acc changed
if (should_exit()) {
_vehicle_angular_velocity_sub.unregisterCallback();
exit_and_cleanup();
return;
}
perf_begin(_loop_perf);
// only run controller if pos, vel, acc changed
if (_vehicle_angular_velocity_sub.update(&_angular_vel))
{
// only update parameters if they changed
@@ -403,7 +409,7 @@ FixedwingPositionINDIControl::Run()
parameters_update();
}
//const float dt = math::constrain((pos.timestamp - _last_run) * 1e-6f, 0.002f, 0.04f);
_last_run = _local_pos.timestamp;
//_last_run = _local_pos.timestamp;
// run polls
_set_wind_estimate(Vector3f(0.f,0.f,0.f));
@@ -506,7 +512,7 @@ FixedwingPositionINDIControl::Run()
_actuators.control[actuator_controls_s::INDEX_ROLL] = ctrl2(0);
_actuators.control[actuator_controls_s::INDEX_PITCH] = ctrl2(1);
_actuators.control[actuator_controls_s::INDEX_YAW] = ctrl2(2);
_actuators.control[actuator_controls_s::INDEX_THROTTLE] = 0.4f;
_actuators.control[actuator_controls_s::INDEX_THROTTLE] = 0.3f;
_actuators_0_pub.publish(_actuators);
//print_message(_actuators);
}
@@ -697,7 +703,7 @@ FixedwingPositionINDIControl::_get_angular_acceleration_ref(float t, float T)
float
FixedwingPositionINDIControl::_get_closest_t(Vector3f pos)
{
const uint n = 500;
const uint n = 100;
Vector<float, n> distances;
float t_ref;
// compute all distances
src/modules/fw_dyn_soar_control/fw_dyn_soar_control_params.c
+1 -1
View File
@@ -446,4 +446,4 @@ PARAM_DEFINE_FLOAT(K_ACT_PITCH, 0.1f);
* @increment 0.1
* @group FW DYN SOAR Control
*/
PARAM_DEFINE_FLOAT(K_ACT_YAW, 1.0f);
PARAM_DEFINE_FLOAT(K_ACT_YAW, 0.1f);