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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-23 16:59:04 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-23 16:59:04 +0200 |
| commit | 2313bf7cd5cbf14ffaec61116cce84b9c0c18653 (patch) | |
| tree | c41b11b95b8f03e4d86bc91de905cb84834fc4fd /src/modules/fw_pos_control_l1 | |
| parent | f7a40c5c6dcccf0ad14e97ef7fe1e426230e6e01 (diff) | |
| download | px4-firmware-2313bf7cd5cbf14ffaec61116cce84b9c0c18653.tar.gz px4-firmware-2313bf7cd5cbf14ffaec61116cce84b9c0c18653.tar.bz2 px4-firmware-2313bf7cd5cbf14ffaec61116cce84b9c0c18653.zip | |
mTECS: Note better filter defaults to get airspeed response a bit smoother. Damp also ACC response with filter more than currently
Diffstat (limited to 'src/modules/fw_pos_control_l1')
| -rw-r--r-- | src/modules/fw_pos_control_l1/mtecs/mTecs_params.c | 18 |
1 files changed, 9 insertions, 9 deletions
diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c b/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c index 4ca31fe20..7cfe63fbc 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c @@ -241,7 +241,14 @@ PARAM_DEFINE_FLOAT(MT_FPA_MAX, 30.0f); * * @group mTECS */ -PARAM_DEFINE_FLOAT(MT_A_LP, 1.0f); +PARAM_DEFINE_FLOAT(MT_A_LP, 0.5f); + +/** + * Airspeed derivative calculation lowpass + * + * @group mTECS + */ +PARAM_DEFINE_FLOAT(MT_AD_LP, 0.5f); /** * P gain for the airspeed control @@ -268,7 +275,7 @@ PARAM_DEFINE_FLOAT(MT_ACC_D, 0.0f); * * @group mTECS */ -PARAM_DEFINE_FLOAT(MT_ACC_D_LP, 1.0f); +PARAM_DEFINE_FLOAT(MT_ACC_D_LP, 0.5f); /** * Minimal acceleration (air) @@ -287,13 +294,6 @@ PARAM_DEFINE_FLOAT(MT_ACC_MIN, -40.0f); PARAM_DEFINE_FLOAT(MT_ACC_MAX, 40.0f); /** - * Airspeed derivative calculation lowpass - * - * @group mTECS - */ -PARAM_DEFINE_FLOAT(MT_AD_LP, 1.0f); - -/** * Minimal throttle during takeoff * * @min 0.0f |