From cced080e5b19efb69b18078b6a32817410071e30 Mon Sep 17 00:00:00 2001 From: Marvin Harms Date: Fri, 24 Jun 2022 16:56:08 +0200 Subject: [PATCH] increased controller and logging frequency --- .../fw_dyn_soar_control/FixedwingPositionINDIControl.hpp | 2 +- src/modules/logger/logged_topics.cpp | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.hpp b/src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.hpp index 83ced220b0..86ab2908fb 100644 --- a/src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.hpp +++ b/src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.hpp @@ -312,7 +312,7 @@ private: Vector _a_lpf_list; Vector _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 diff --git a/src/modules/logger/logged_topics.cpp b/src/modules/logger/logged_topics.cpp index f035c83864..9d594ab2e4 100644 --- a/src/modules/logger/logged_topics.cpp +++ b/src/modules/logger/logged_topics.cpp @@ -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);