Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-05-30 11:37:06 +08:00
Code Issues Actions 26 Packages Projects Releases Wiki Activity

- linked xml setting to adaptive mu lms (#2847)

Browse Source
This commit is contained in:
Prawien Kanhai
2022-03-26 10:13:14 +01:00
committed by GitHub
parent 57ff4b9823
commit 0001342ec6
1 changed files with 10 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c
+10 -2
View File
@@ -679,9 +679,17 @@ void lms_estimation(void)
float indi_accel_d = (acceleration_lowpass_filter.o[0]
- acceleration_lowpass_filter.o[1]) * PERIODIC_FREQUENCY;
// Use xml setting for adaptive mu for lms
// Set default value if not defined
#ifndef STABILIZATION_INDI_ADAPTIVE_MU
float adaptive_mu_lr = 0.001;
#else
float adaptive_mu_lr = STABILIZATION_INDI_ADAPTIVE_MU;
#endif
// scale the inputs to avoid numerical errors
float_vect_smul(du_estimation, actuator_state_filt_vectd, 0.001, INDI_NUM_ACT);
float_vect_smul(ddu_estimation, actuator_state_filt_vectdd, 0.001 / PERIODIC_FREQUENCY, INDI_NUM_ACT);
float_vect_smul(du_estimation, actuator_state_filt_vectd, adaptive_mu_lr, INDI_NUM_ACT);
float_vect_smul(ddu_estimation, actuator_state_filt_vectdd, adaptive_mu_lr / PERIODIC_FREQUENCY, INDI_NUM_ACT);
float ddx_estimation[INDI_OUTPUTS] = {estimation_rate_dd[0], estimation_rate_dd[1], estimation_rate_dd[2], indi_accel_d};