From ed617386913f699ddc54c6dd9cbb60b092977dea Mon Sep 17 00:00:00 2001 From: Marvin Harms Date: Mon, 5 Sep 2022 14:45:06 +0200 Subject: [PATCH] cleaned up params --- src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.hpp | 1 - src/modules/fw_dyn_soar_estimator/FixedwingShearEstimator.cpp | 1 + 2 files changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.hpp b/src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.hpp index 9bcd9ff366..d4515fd5c2 100644 --- a/src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.hpp +++ b/src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.hpp @@ -333,7 +333,6 @@ private: // smoothing filter to reject HF noise in control output const float _cutoff_frequency_smoothing = 20.f; // we want to attenuate noise at 30Hz with -10dB -> need cutoff frequency 5 times lower (6Hz) math::LowPassFilter2p _lp_filter_ctrl0[3] {{_sample_frequency, _cutoff_frequency_smoothing}, {_sample_frequency, _cutoff_frequency_smoothing}, {_sample_frequency, _cutoff_frequency_smoothing}}; // force command stage 1 - math::LowPassFilter2p _lp_filter_ctrl1[3] {{_sample_frequency, _cutoff_frequency_smoothing}, {_sample_frequency, _cutoff_frequency_smoothing}, {_sample_frequency, _cutoff_frequency_smoothing}}; // control output stage 1 math::LowPassFilter2p _lp_filter_rud {_sample_frequency, 10}; // rudder command // Low-Pass filters stage 2 const float _cutoff_frequency_2 = 20.f; // MUST MATCH PARAM "IMU_DGYRO_CUTOFF" diff --git a/src/modules/fw_dyn_soar_estimator/FixedwingShearEstimator.cpp b/src/modules/fw_dyn_soar_estimator/FixedwingShearEstimator.cpp index 2216e584d2..21abfee691 100644 --- a/src/modules/fw_dyn_soar_estimator/FixedwingShearEstimator.cpp +++ b/src/modules/fw_dyn_soar_estimator/FixedwingShearEstimator.cpp @@ -482,6 +482,7 @@ FixedwingShearEstimator::Run() // only update airspeed for trajectory selection _soaring_estimator_shear.aspd = aspd; } + PX4_INFO("Unlocked shear estimator, current airspeed \t%.1f", (double)_current_airspeed); // publish shear params // ========================================