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changed basis fun sigma back to 1.0

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This commit is contained in:
Marvin Harms
2022-06-06 11:47:23 +02:00
parent 55992cd3c7
commit c44c387b6d
6 changed files with 18 additions and 6 deletions
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src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.cpp
+5 -2
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@@ -77,6 +77,9 @@ FixedwingPositionINDIControl::init()
return false;
}
_read_trajectory_coeffs_csv("trajectory0.csv");
_read_trajectory_coeffs_csv("trajectory1.csv");
_read_trajectory_coeffs_csv("trajectory2.csv");
//_read_trajectory_coeffs_csv("trajectory3.csv");
// initialize transformations
_R_ned_to_enu *= 0.f;
@@ -646,7 +649,7 @@ FixedwingPositionINDIControl::_get_basis_funs(float t)
{
Vector<float, _num_basis_funs> vec;
vec(0) = 1.0f;
float sigma = 1.0f/float(_num_basis_funs);
float sigma = 1.0f/_num_basis_funs;
for(uint i=1; i<_num_basis_funs; i++){
float fun1 = sinf(M_PI_F*t);
float fun2 = exp(-powf((t-float(i)/float(_num_basis_funs)),2)/sigma);
@@ -1138,7 +1141,7 @@ int FixedwingPositionINDIControl::print_usage(const char *reason)
PRINT_MODULE_DESCRIPTION(
R"DESCR_STR(
### Description
fw_dyn_soar_control is the fixed wing controller for soaring tasks.
fw_dyn_soar_control is the fixed wing controller for dynamic soaring tasks.
)DESCR_STR");