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Solve wing vibration of the 25kg rotating wing drone (#3311)

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* configurable filter frequency rates
* adjust filter freq tested in CZ 70 deg skew

---------

Co-authored-by: Ewoud Smeur <e.j.j.smeur@tudelft.nl>
This commit is contained in:
NoahWe
2024-06-14 16:43:42 +02:00
committed by GitHub
parent a988756bde
commit 2517b1721e
4 changed files with 18 additions and 3 deletions
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conf/airframes/tudelft/rot_wing_25kg.xml
+3 -3
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@@ -446,9 +446,9 @@
<!-- Filters -->
<define name="FILTER_RATES_SECOND_ORDER" value="FALSE" />
<define name="FILT_CUTOFF_P" value="5.0"/>
<define name="FILT_CUTOFF_Q" value="5.0"/>
<define name="FILT_CUTOFF_R" value="5.0"/>
<define name="FILT_CUTOFF_P" value="3.0"/>
<define name="FILT_CUTOFF_Q" value="3.0"/>
<define name="FILT_CUTOFF_R" value="3.0"/>
<define name="FILT_CUTOFF" value="2.0"/>
<define name="ESTIMATION_FILT_CUTOFF" value="2.0"/>
<define name="FILTER_YAW_RATE" value="TRUE"/>
conf/modules/stabilization_indi.xml
+1
View File
@@ -62,6 +62,7 @@
<dl_setting var="indi_gains.rate.r" min="0.1" step="0.1" max="100" shortname="kd_r" param="STABILIZATION_INDI_REF_RATE_P"/>
<dl_setting var="indi_use_adaptive" min="0" step="1" max="1" shortname="use_adaptive" values="FALSE|TRUE" param="STABILIZATION_INDI_USE_ADAPTIVE" type="uint8"/>
<dl_setting var="stablization_indi_yaw_dist_limit" min="0" step=".01" max="10.0" shortname="lim_yaw_spec_moment" param="STABILIZATION_INDI_YAW_DISTURBANCE_LIMIT"/>
<dl_setting MAX="50." MIN="1." STEP="0.1" VAR="stabilization_indi_filter_freq" shortname="filt_freq" module="stabilization/stabilization_indi" handler="update_filt_freq"/>
</dl_settings>
</dl_settings>
</settings>