Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-05-27 17:06:31 +08:00
Code Issues Actions 26 Packages Projects Releases Wiki Activity

better initialization guidance_indi (#2063)

Browse Source
This commit is contained in:
Ewoud Smeur
2017-05-10 21:46:50 +02:00
committed by Gautier Hattenberger
parent 4fa4a6effd
commit f1f43d47f9
1 changed files with 5 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.c
+5 -5
View File
@@ -107,17 +107,17 @@ static void guidance_indi_calcG(struct FloatMat33 *Gmat);
* Call upon entering indi guidance * Call upon entering indi guidance
*/ */
void guidance_indi_enter(void) { void guidance_indi_enter(void) {
thrust_in = 0.0; thrust_in = stabilization_cmd[COMMAND_THRUST];
thrust_act = 0; thrust_act = thrust_in;
float tau = 1.0/(2.0*M_PI*filter_cutoff); float tau = 1.0/(2.0*M_PI*filter_cutoff);
float sample_time = 1.0/PERIODIC_FREQUENCY; float sample_time = 1.0/PERIODIC_FREQUENCY;
for(int8_t i=0; i<3; i++) { for(int8_t i=0; i<3; i++) {
init_butterworth_2_low_pass(&filt_accel_ned[i], tau, sample_time, 0.0); init_butterworth_2_low_pass(&filt_accel_ned[i], tau, sample_time, 0.0);
} }
init_butterworth_2_low_pass(&roll_filt, tau, sample_time, 0.0); init_butterworth_2_low_pass(&roll_filt, tau, sample_time, stateGetNedToBodyEulers_f()->phi);
init_butterworth_2_low_pass(&pitch_filt, tau, sample_time, 0.0); init_butterworth_2_low_pass(&pitch_filt, tau, sample_time, stateGetNedToBodyEulers_f()->theta);
init_butterworth_2_low_pass(&thrust_filt, tau, sample_time, 0.0); init_butterworth_2_low_pass(&thrust_filt, tau, sample_time, thrust_in);
} }
/** /**