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changed wind computations coeffs

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This commit is contained in:
Marvin Harms
2022-10-22 14:35:54 +02:00
parent b28dc12aea
commit 9210fa1c90
2 changed files with 2 additions and 2 deletions
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Tools/sitl_gazebo
+1 -1
Submodule Tools/sitl_gazebo updated: a3eef9d3a1...d3cb480a15
src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.cpp
+1 -1
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@@ -470,7 +470,7 @@ FixedwingPositionINDIControl::_compute_wind_estimate_EKF()
float speed = fmaxf(_cal_airspeed, _stall_speed);
float u_approx = _true_airspeed;
float v_approx = body_force(1)*_true_airspeed / (0.5f*_rho*powf(speed,2)*_area*_C_B1);
float w_approx = (-body_force(2)*_true_airspeed / (0.5f*_rho*powf(speed,2)*_area)-0.2125f)/_C_L1;
float w_approx = (-body_force(2)*_true_airspeed / (0.5f*_rho*powf(speed,2)*_area)-0.1949f)/3.5928f;
Vector3f vel_air = R_ib*(Vector3f{u_approx, v_approx, w_approx});
// compute wind from wind triangle