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INDI actuator dynamics in continuous time (#3190)

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* change INDI to use continuous time actuator frequency

* change to continuous time act dynamics definitions

- guidance_indi
- guidance_indi_hybrid
- stabilization_indi_simple

* keep the old values as deprecated default
This commit is contained in:
Ewoud Smeur
2023-12-04 09:08:39 +01:00
committed by GitHub
parent 8751466515
commit cfae3bc0d9
8 changed files with 88 additions and 28 deletions
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conf/airframes/tudelft/cyfoam.xml
+1 -1
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@@ -111,7 +111,7 @@
<define name="FILT_CUTOFF" value="5.0"/>
<!-- first order actuator dynamics -->
<define name="ACT_DYN" value="{0.1, 0.1, 0.045, 0.045}"/>
<define name="ACT_FREQ" value="{53., 53., 23., 23.}"/>
<define name="ACT_RATE_LIMIT" value="{170, 170, 9600, 9600}"/>
<define name="ACT_IS_SERVO" value="{1, 1, 0, 0}"/>