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re-added turn coordination gains (TESTING CODE)

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Marvin Harms
2022-06-29 17:42:47 +02:00
parent 4db29df3b7
commit c287c56f8d
3 changed files with 27 additions and 2 deletions
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src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.cpp
+2 -2
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@@ -119,10 +119,10 @@ FixedwingPositionINDIControl::parameters_update()
_K_a(2,2) = _param_lin_ff_z.get();
_K_q(0,0) = _param_rot_k_roll.get();
_K_q(1,1) = _param_rot_k_pitch.get();
_K_q(2,2) = 0.f; // rudder is controlled via turn coordination, not INDI
_K_q(2,2) = _param_rot_k_yaw.get(); // rudder is controlled via turn coordination, not INDI
_K_w(0,0) = _param_rot_c_roll.get()*2.f*sqrtf(_param_rot_k_roll.get());
_K_w(1,1) = _param_rot_c_pitch.get()*2.f*sqrtf(_param_rot_k_pitch.get());
_K_w(2,2) = 0.f; // rudder is controlled via turn coordination, not INDI
_K_w(2,2) = _param_rot_c_yaw.get()*2.f*sqrtf(_param_rot_k_yaw.get()); // rudder is controlled via turn coordination, not INDI
// aircraft parameters
_inertia(0,0) = _param_fw_inertia_roll.get();