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tuning_tools: Change 1G to a more accurate value

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muramura
2024-02-07 00:06:51 +09:00
committed by Daniel Agar
parent 00a9e4c76b
commit f636414ca7
2 changed files with 3 additions and 3 deletions
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src/modules/ekf2/EKF/python/tuning_tools/baro_static_pressure_compensation/baro_static_pressure_compensation_tuning.py
+1 -1
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@@ -175,7 +175,7 @@ def run(logfile):
res = optimize.minimize(J, x0, method='nelder-mead', options={'disp': True}) res = optimize.minimize(J, x0, method='nelder-mead', options={'disp': True})
# Convert results to parameters # Convert results to parameters
g = 9.81 g = 9.80665
pcoef_xn = res.x[0] * g pcoef_xn = res.x[0] * g
pcoef_xp = res.x[1] * g pcoef_xp = res.x[1] * g
pcoef_yn = res.x[2] * g pcoef_yn = res.x[2] * g
src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
+2 -2
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@@ -809,8 +809,8 @@ void FlightTaskAuto::_updateTrajConstraints()
if (_is_emergency_braking_active) { if (_is_emergency_braking_active) {
// When initializing with large velocity, allow 1g of // When initializing with large velocity, allow 1g of
// acceleration in 1s on all axes for fast braking // acceleration in 1s on all axes for fast braking
_position_smoothing.setMaxAcceleration({9.80665f, 9.80665f, 9.80665f}); _position_smoothing.setMaxAcceleration({CONSTANTS_ONE_G, CONSTANTS_ONE_G, CONSTANTS_ONE_G});
_position_smoothing.setMaxJerk(9.80665f); _position_smoothing.setMaxJerk(CONSTANTS_ONE_G);
// If the current velocity is beyond the usual constraints, tell // If the current velocity is beyond the usual constraints, tell
// the controller to exceptionally increase its saturations to avoid // the controller to exceptionally increase its saturations to avoid