From d6a26d94d1dc128f1459e998e32554859e773e01 Mon Sep 17 00:00:00 2001 From: Marvin Harms Date: Fri, 9 Sep 2022 08:12:55 +0200 Subject: [PATCH] TESTING CODE, hardcoded C_L0 wind_est --- .../fw_dyn_soar_control/FixedwingPositionINDIControl.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.cpp b/src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.cpp index d5e7091f36..c7052026e3 100644 --- a/src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.cpp +++ b/src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.cpp @@ -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