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added aoa offset to wind computation

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This commit is contained in:
MarvinHarms
2022-07-05 17:30:29 +02:00
parent c287c56f8d
commit f8a4928a43
2 changed files with 2 additions and 2 deletions
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Tools/sitl_gazebo
+1 -1
Submodule Tools/sitl_gazebo updated: 59a34c17ff...a3eef9d3a1
src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.cpp
+1 -1
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@@ -598,7 +598,7 @@ FixedwingPositionINDIControl::Run()
float AoA_approx = (((2.f*Fz)/(_rho*_area*(fmaxf(_airspeed*_airspeed,_stall_speed*_stall_speed))+0.001f) - _C_L0)/_C_L1) /
(1 - ((2.f*Fx)/(_rho*_area*(fmaxf(_airspeed*_airspeed,_stall_speed*_stall_speed))+0.001f)/_C_L1));
AoA_approx = constrain(AoA_approx,-0.2f,0.2f);
Vector3f vel_air = R_ib*(Vector3f{_airspeed,0.f,tanf(AoA_approx)*_airspeed});
Vector3f vel_air = R_ib*(Vector3f{_airspeed,0.f,tanf(AoA_approx-_aoa_offset)*_airspeed});
Vector3f wind = _vel - vel_air;
wind(0) = _lp_filter_wind[0].apply(wind(0));
wind(1) = _lp_filter_wind[1].apply(wind(1));