From f636414ca7ea42239c6d85772fe0a9b1a8570c8f Mon Sep 17 00:00:00 2001 From: muramura Date: Wed, 7 Feb 2024 00:06:51 +0900 Subject: [PATCH] tuning_tools: Change 1G to a more accurate value --- .../baro_static_pressure_compensation_tuning.py | 2 +- src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/src/modules/ekf2/EKF/python/tuning_tools/baro_static_pressure_compensation/baro_static_pressure_compensation_tuning.py b/src/modules/ekf2/EKF/python/tuning_tools/baro_static_pressure_compensation/baro_static_pressure_compensation_tuning.py index c1035a4bf6..062e6687ef 100644 --- a/src/modules/ekf2/EKF/python/tuning_tools/baro_static_pressure_compensation/baro_static_pressure_compensation_tuning.py +++ b/src/modules/ekf2/EKF/python/tuning_tools/baro_static_pressure_compensation/baro_static_pressure_compensation_tuning.py @@ -175,7 +175,7 @@ def run(logfile): res = optimize.minimize(J, x0, method='nelder-mead', options={'disp': True}) # Convert results to parameters - g = 9.81 + g = 9.80665 pcoef_xn = res.x[0] * g pcoef_xp = res.x[1] * g pcoef_yn = res.x[2] * g diff --git a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp index 977e20b127..4c5fbc8be7 100644 --- a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp +++ b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp @@ -809,8 +809,8 @@ void FlightTaskAuto::_updateTrajConstraints() if (_is_emergency_braking_active) { // When initializing with large velocity, allow 1g of // acceleration in 1s on all axes for fast braking - _position_smoothing.setMaxAcceleration({9.80665f, 9.80665f, 9.80665f}); - _position_smoothing.setMaxJerk(9.80665f); + _position_smoothing.setMaxAcceleration({CONSTANTS_ONE_G, CONSTANTS_ONE_G, CONSTANTS_ONE_G}); + _position_smoothing.setMaxJerk(CONSTANTS_ONE_G); // If the current velocity is beyond the usual constraints, tell // the controller to exceptionally increase its saturations to avoid