From a7ebfd2443199a72ac2c5c3a89802b6d866cfd15 Mon Sep 17 00:00:00 2001 From: Marvin Harms Date: Fri, 12 Aug 2022 14:49:43 +0200 Subject: [PATCH] removed error in filtering of omega (was filtered twice) --- .../fw_dyn_soar_control/FixedwingPositionINDIControl.cpp | 5 ----- 1 file changed, 5 deletions(-) diff --git a/src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.cpp b/src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.cpp index 42b56d57d8..01a5ccbaef 100644 --- a/src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.cpp +++ b/src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.cpp @@ -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;