forked from Archive/PX4-Autopilot
TECS: remove height rate complementary filter
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6630087654
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@ -1 +1 @@
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Subproject commit 94484f01ce25aac33d4ed1ee1990da757e210d2b
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Subproject commit 011b4c2e4e9c39723250ed6805daa5b0aac3a1d4
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@ -104,7 +104,6 @@ FixedwingPositionControl::FixedwingPositionControl(bool vtol) :
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_parameter_handles.throttle_damp = param_find("FW_T_THR_DAMP");
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_parameter_handles.integrator_gain = param_find("FW_T_INTEG_GAIN");
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_parameter_handles.vertical_accel_limit = param_find("FW_T_VERT_ACC");
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_parameter_handles.height_comp_filter_omega = param_find("FW_T_HGT_OMEGA");
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_parameter_handles.speed_comp_filter_omega = param_find("FW_T_SPD_OMEGA");
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_parameter_handles.roll_throttle_compensation = param_find("FW_T_RLL2THR");
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_parameter_handles.speed_weight = param_find("FW_T_SPDWEIGHT");
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@ -244,10 +243,6 @@ FixedwingPositionControl::parameters_update()
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_tecs.set_vertical_accel_limit(v);
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}
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if (param_get(_parameter_handles.height_comp_filter_omega, &v) == PX4_OK) {
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_tecs.set_height_comp_filter_omega(v);
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}
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if (param_get(_parameter_handles.speed_comp_filter_omega, &v) == PX4_OK) {
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_tecs.set_speed_comp_filter_omega(v);
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}
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@ -1889,7 +1884,7 @@ FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float airspee
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/* update TECS vehicle state estimates */
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_tecs.update_vehicle_state_estimates(_airspeed, _R_nb,
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accel_body, (_global_pos.timestamp > 0), in_air_alt_control,
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_global_pos.alt, _local_pos.v_z_valid, _local_pos.vz, _local_pos.az);
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_global_pos.alt, _local_pos.vz);
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/* scale throttle cruise by baro pressure */
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if (_parameters.throttle_alt_scale > FLT_EPSILON) {
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@ -325,7 +325,6 @@ private:
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param_t throttle_damp;
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param_t integrator_gain;
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param_t vertical_accel_limit;
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param_t height_comp_filter_omega;
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param_t speed_comp_filter_omega;
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param_t roll_throttle_compensation;
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param_t speed_weight;
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@ -601,24 +601,6 @@ PARAM_DEFINE_FLOAT(FW_T_INTEG_GAIN, 0.1f);
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*/
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PARAM_DEFINE_FLOAT(FW_T_VERT_ACC, 7.0f);
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/**
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* Complementary filter "omega" parameter for height
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*
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* This is the cross-over frequency (in radians/second) of the complementary
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* filter used to fuse vertical acceleration and barometric height to obtain
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* an estimate of height rate and height. Increasing this frequency weights
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* the solution more towards use of the barometer, whilst reducing it weights
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* the solution more towards use of the accelerometer data.
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*
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* @unit rad/s
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* @min 1.0
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* @max 10.0
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* @decimal 1
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* @increment 0.5
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* @group FW TECS
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*/
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PARAM_DEFINE_FLOAT(FW_T_HGT_OMEGA, 3.0f);
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/**
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* Complementary filter "omega" parameter for speed
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*
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