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Use gravity constant

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This commit is contained in:
JaeyoungLim
2025-11-24 15:36:03 -08:00
parent 143672821d
commit cc106e27d7
2 changed files with 3 additions and 3 deletions
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src/modules/fw_wind_estimator/FixedwingWindEstimator.cpp
+2 -1
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@@ -123,6 +123,7 @@ void
FixedwingWindEstimator::vehicle_acceleration_poll()
{
vehicle_acceleration_s vehicle_acceleration;
if (_vehicle_acceleration_sub.update(&vehicle_acceleration)) {
_acceleration = Vector3f(vehicle_acceleration.xyz);
}
@@ -137,7 +138,7 @@ matrix::Vector3f FixedwingWindEstimator::compute_wind_estimate()
const float C_A1 = _param_fw_w_c_a1.get();
// compute expected AoA from g-forces:
matrix::Vector3f body_force = _mass * (_acceleration + _attitude.rotateVectorInverse(_gravity));
matrix::Vector3f body_force = _mass * (_acceleration + _attitude.rotateVectorInverse(matrix::Vector3f(0.f, 0.f, CONSTANTS_ONE_G)));
float _rho{1.225};
const float speed = fmaxf(_calibrated_airspeed, _stall_airspeed);
src/modules/fw_wind_estimator/FixedwingWindEstimator.hpp
+1 -2
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@@ -63,7 +63,7 @@
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_acceleration.h>
#include <uORB/topics/vehicle_local_position.h>
#include <geo/geo.h> // CONSTANTS_ONE_G
using uORB::SubscriptionData;
@@ -118,7 +118,6 @@ private:
matrix::Quatf _attitude{};
matrix::Vector3f _acceleration{0.f, 0.f, 0.f};
matrix::Vector3f _local_velocity{0.f, 0.f, 0.f};
matrix::Vector3f _gravity{0.f, 0.f, 9.81f};
bool _landed{true};