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removed error in filtering of omega (was filtered twice)

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Marvin Harms
2022-08-12 14:49:43 +02:00
parent 61f523b750
commit a7ebfd2443
1 changed files with 0 additions and 5 deletions
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src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.cpp
-5
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@@ -1469,11 +1469,6 @@ FixedwingPositionINDIControl::_compute_INDI_stage_2(Vector3f ctrl)
//Vector3f vel_body_2 = Dcmf(Quatf(_attitude.q)).transpose()*Vector3f{_local_pos.vx,_local_pos.vy,_local_pos.vz};
//PX4_INFO("ENU body frame velocity: \t%.2f\t%.2f\t%.2f", (double)vel_body_2(0), (double)vel_body_2(1), (double)vel_body_2(2));
//PX4_INFO("FRD body frame velocity: \t%.2f\t%.2f\t%.2f", (double)vel_body(0), (double)vel_body(1), (double)vel_body(2));
// filter omega at the same rate as the moments
Vector3f omega_filtered;
omega_filtered(0) = _lp_filter_omega_2[0].apply(_omega(0));
omega_filtered(1) = _lp_filter_omega_2[1].apply(_omega(1));
omega_filtered(2) = _lp_filter_omega_2[2].apply(_omega(2));
//omega_filtered = _omega; //TODO: remove
// compute moments
Vector3f moment;