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TESTING CODE, hardcoded C_L0 wind_est

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Marvin Harms
2022-09-09 08:12:55 +02:00
parent f328307c41
commit d6a26d94d1
1 changed files with 1 additions and 1 deletions
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src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.cpp
+1 -1
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@@ -471,7 +471,7 @@ FixedwingPositionINDIControl::_compute_wind_estimate_EKF()
float speed = fmaxf(_cal_airspeed, _stall_speed);
float u_approx = _true_airspeed;
float v_approx = body_force(1)*_true_airspeed / (0.5f*_rho*powf(speed,2)*_area*_C_B1);
float w_approx = (-body_force(2)*_true_airspeed / (0.5f*_rho*powf(speed,2)*_area)-_C_L0)/_C_L1;
float w_approx = (-body_force(2)*_true_airspeed / (0.5f*_rho*powf(speed,2)*_area)-0.2125f)/_C_L1;
Vector3f vel_air = R_ib*(Vector3f{u_approx, v_approx, w_approx});
// compute wind from wind triangle