From aa83b09cf81b01388a75464d8964884e28ce4814 Mon Sep 17 00:00:00 2001 From: Marvin Harms Date: Mon, 5 Sep 2022 16:39:34 +0200 Subject: [PATCH] corrected error with param lock --- .../fw_dyn_soar_control/FixedwingPositionINDIControl.cpp | 2 +- src/modules/fw_dyn_soar_estimator/FixedwingShearEstimator.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.cpp b/src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.cpp index fa0338bb5f..67fbb79c27 100644 --- a/src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.cpp +++ b/src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.cpp @@ -957,7 +957,7 @@ FixedwingPositionINDIControl::Run() _soaring_controller_wind.airspeed = _airspeed; if (_switch_cl_soaring) { // always update shear params in closed loop soaring mode - _soaring_controller_wind.lock_params = true; + _soaring_controller_wind.lock_params = false; } else { // only update in manual feedthrough in open loop soaring diff --git a/src/modules/fw_dyn_soar_estimator/FixedwingShearEstimator.cpp b/src/modules/fw_dyn_soar_estimator/FixedwingShearEstimator.cpp index 21abfee691..72c8d66053 100644 --- a/src/modules/fw_dyn_soar_estimator/FixedwingShearEstimator.cpp +++ b/src/modules/fw_dyn_soar_estimator/FixedwingShearEstimator.cpp @@ -482,7 +482,7 @@ FixedwingShearEstimator::Run() // only update airspeed for trajectory selection _soaring_estimator_shear.aspd = aspd; } - PX4_INFO("Unlocked shear estimator, current airspeed \t%.1f", (double)_current_airspeed); + //PX4_INFO("Unlocked shear estimator, current airspeed \t%.1f", (double)_current_airspeed); // publish shear params // ========================================