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

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

Browse Source 
* 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
Download Patch File Download Diff File Expand all files Collapse all files
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
}
/**