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Fixes for master: prevent falling over on simulation start and fix 2nd order filter (#3312)

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* prevent falling over on simulation start

* Small fix for new inflight filter tuning.

---------

Co-authored-by: Ewoud Smeur <e.j.j.smeur@tudelft.nl>
This commit is contained in:
Christophe De Wagter
2024-06-15 22:39:40 +02:00
committed by GitHub
parent 15f95e592b
commit 3d87525cd1
2 changed files with 10 additions and 4 deletions
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conf/simulator/jsbsim/aircraft/rotwing25.xml
+4 -4
View File
@@ -52,7 +52,7 @@
<ground_reactions>
<contact type="STRUCTURE" name="CONTACT_FRONT">
<location unit="M">
<x>-0.15 </x>
<x>-0.5 </x>
<y> 0 </y>
<z>-0.1 </z>
</location>
@@ -68,7 +68,7 @@
<contact type="STRUCTURE" name="CONTACT_BACK">
<location unit="M">
<x> 0.15</x>
<x> 0.5</x>
<y> 0 </y>
<z>-0.1 </z>
</location>
@@ -85,7 +85,7 @@
<contact type="STRUCTURE" name="CONTACT_RIGHT">
<location unit="M">
<x> 0. </x>
<y> 0.15</y>
<y> 0.5</y>
<z>-0.1 </z>
</location>
<static_friction> 0.8 </static_friction>
@@ -101,7 +101,7 @@
<contact type="STRUCTURE" name="CONTACT_LEFT">
<location unit="M">
<x> 0. </x>
<y>-0.15</y>
<y>-0.5</y>
<z>-0.1 </z>
</location>
<static_friction> 0.8 </static_friction>
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c
+6
View File
@@ -448,9 +448,15 @@ void stabilization_indi_update_filt_freq(float freq)
stabilization_indi_filter_freq = freq;
float tau = 1.0 / (2.0 * M_PI * freq);
float sample_time = 1.0 / PERIODIC_FREQUENCY;
#if STABILIZATION_INDI_FILTER_RATES_SECOND_ORDER
init_butterworth_2_low_pass(&rates_filt_so[0], tau, sample_time, stateGetBodyRates_f()->p);
init_butterworth_2_low_pass(&rates_filt_so[1], tau, sample_time, stateGetBodyRates_f()->q);
init_butterworth_2_low_pass(&rates_filt_so[2], tau, sample_time, stateGetBodyRates_f()->r);
#else
init_first_order_low_pass(&rates_filt_fo[0], tau, sample_time, stateGetBodyRates_f()->p);
init_first_order_low_pass(&rates_filt_fo[1], tau, sample_time, stateGetBodyRates_f()->q);
init_first_order_low_pass(&rates_filt_fo[2], tau, sample_time, stateGetBodyRates_f()->r);
#endif
}
/**