From 18fa11d99d73081411f71c8ec79fa2c5dd9df688 Mon Sep 17 00:00:00 2001 From: Gautier Hattenberger Date: Mon, 10 Jun 2024 09:51:37 +0200 Subject: [PATCH] [indi] fix thrust filtering after #3248 (#3297) guidance indi thrust is broken when using specific force gain --- sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.c | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.c index ae2f751616..729a22dc61 100644 --- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.c +++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.c @@ -372,7 +372,8 @@ void guidance_indi_filter_thrust(void) // Actuator dynamics thrust_act = thrust_act + thrust_dyn * (thrust_in - thrust_act); - // same filter as for the acceleorth_2_low_pass(&thrust_filt, thrust_act); + // same filter as for the acceleration + update_butterworth_2_low_pass(&thrust_filt, thrust_act); } #endif