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increased controller and logging frequency

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This commit is contained in:
Marvin Harms
2022-06-24 16:56:08 +02:00
parent 14d77221ab
commit cced080e5b
2 changed files with 3 additions and 3 deletions
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src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.hpp
+1 -1
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@@ -312,7 +312,7 @@ private:
Vector<Vector3f, 2> _a_lpf_list;
Vector<Vector3f, 2> _l_lpf_list;
// controller frequency
const float _sample_frequency = 100.f;
const float _sample_frequency = 200.f;
// Low-Pass filters stage 1
const float _cutoff_frequency_1 = 5.f;
math::LowPassFilter2p _lp_filter_accel[3] {{_sample_frequency, _cutoff_frequency_1}, {_sample_frequency, _cutoff_frequency_1}, {_sample_frequency, _cutoff_frequency_1}}; // linear acceleration
src/modules/logger/logged_topics.cpp
+2 -2
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@@ -117,8 +117,8 @@ void LoggedTopics::add_default_topics()
add_topic("wind", 1000);
// Control allocation topics
add_topic("vehicle_angular_acceleration_setpoint", 20);
add_topic("vehicle_angular_acceleration", 20);
add_topic("vehicle_angular_acceleration_setpoint", 10);
add_topic("vehicle_angular_acceleration", 10);
add_topic("vehicle_thrust_setpoint", 20);
add_topic("vehicle_torque_setpoint", 20);
add_topic("vehicle_actuator_setpoint", 20);