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This commit is contained in:
JaeyoungLim
2025-07-07 14:50:05 +09:00
parent 5238537e65
commit c49fea2a54
2 changed files with 24 additions and 24 deletions
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src/modules/fw_indi_pos_control/FixedwingIndiPosControl.cpp
+1 -1
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@@ -459,7 +459,7 @@ void FixedwingIndiPosControl::Run()
Vector3f closest_point = progress * progress_vector + segment_start; Vector3f closest_point = progress * progress_vector + segment_start;
pos_ref_ = closest_point; pos_ref_ = closest_point;
vel_ref_ = 15.0f* progress_vector; vel_ref_ = 15.0f * progress_vector;
// Compute bodyrate commands // Compute bodyrate commands
Vector3f rate_command = computeIndi(pos_ref_, vel_ref_, acc_ref_); Vector3f rate_command = computeIndi(pos_ref_, vel_ref_, acc_ref_);
src/modules/fw_indi_pos_control/fw_indi_pos_control_params.c
+23 -23
View File
@@ -103,31 +103,31 @@ PARAM_DEFINE_FLOAT(FW_INDI_KP_Z, 1.0f);
* @increment 0.1 * @increment 0.1
* @group FW DYN SOAR Control * @group FW DYN SOAR Control
*/ */
PARAM_DEFINE_FLOAT(FW_INDI_KV_X, 0.1f); PARAM_DEFINE_FLOAT(FW_INDI_KV_X, 0.1f);
/** /**
* control gain of position PD-controller (body x-direction) * control gain of position PD-controller (body x-direction)
* *
* @unit * @unit
* @min 0 * @min 0
* @max 100 * @max 100
* @decimal 1 * @decimal 1
* @increment 0.1 * @increment 0.1
* @group FW DYN SOAR Control * @group FW DYN SOAR Control
*/ */
PARAM_DEFINE_FLOAT(FW_INDI_KV_Y, 0.1f); PARAM_DEFINE_FLOAT(FW_INDI_KV_Y, 0.1f);
/** /**
* control gain of position PD-controller (body x-direction) * control gain of position PD-controller (body x-direction)
* *
* @unit * @unit
* @min 0 * @min 0
* @max 100 * @max 100
* @decimal 1 * @decimal 1
* @increment 0.1 * @increment 0.1
* @group FW DYN SOAR Control * @group FW DYN SOAR Control
*/ */
PARAM_DEFINE_FLOAT(FW_INDI_KV_Z, 0.1f); PARAM_DEFINE_FLOAT(FW_INDI_KV_Z, 0.1f);
/** /**
* control gain of attitude PD-controller (body roll-direction) * control gain of attitude PD-controller (body roll-direction)