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[fix] use variable instead of macro for thrust dyn in guidance_indi (#3200)

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Gautier Hattenberger
2023-12-12 15:49:04 +01:00
committed by GitHub
parent 864cfba4bd
commit 481a53dbaf
1 changed files with 2 additions and 2 deletions
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sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.c
+2 -2
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@@ -84,7 +84,7 @@ static void guidance_indi_filter_thrust(void);
#warning GUIDANCE_INDI_THRUST_DYNAMICS is deprecated, use GUIDANCE_INDI_THRUST_DYNAMICS_FREQ instead.
#warning "The thrust dynamics are now specified in continuous time with the corner frequency of the first order model!"
#warning "define GUIDANCE_INDI_THRUST_DYNAMICS_FREQ in rad/s"
#warning "Use -log(1 - old_number) * PERIODIC_FREQUENCY to compute it from the old value."
#warning "Use -ln(1 - old_number) * PERIODIC_FREQUENCY to compute it from the old value."
#endif
#ifndef GUIDANCE_INDI_THRUST_DYNAMICS_FREQ
@@ -354,7 +354,7 @@ struct StabilizationSetpoint guidance_indi_run_mode(bool in_flight UNUSED, struc
void guidance_indi_filter_thrust(void)
{
// Actuator dynamics
thrust_act = thrust_act + GUIDANCE_INDI_THRUST_DYNAMICS * (thrust_in - thrust_act);
thrust_act = thrust_act + thrust_dyn * (thrust_in - thrust_act);
// same filter as for the acceleration
update_butterworth_2_low_pass(&thrust_filt, thrust_act);