rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2024-12-01 09:24:10 +01:00
Code Issues Releases Activity

LP-604 changed low pass filter to have a significantly ( factor 10 ) smaller Tau than the feed forward term itself, otherwise the filter delay nulls the feed forward effect

Browse Source
This commit is contained in:
Eric Price 2018-10-19 10:05:01 +02:00
parent b218909c7b
commit a91ebccd88
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
flight/modules/Stabilization/stabilization.c
View File

@ -372,7 +372,7 @@ static void BankUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
// calculation // calculation
const float fakeDt = 0.0025f; const float fakeDt = 0.0025f;
for (int t = 0; t < STABILIZATIONBANK_ATTITUDEFEEDFORWARD_NUMELEM; t++) { for (int t = 0; t < STABILIZATIONBANK_ATTITUDEFEEDFORWARD_NUMELEM; t++) {
float tau = StabilizationBankAttitudeFeedForwardToArray(stabSettings.stabBank.AttitudeFeedForward)[t]; float tau = StabilizationBankAttitudeFeedForwardToArray(stabSettings.stabBank.AttitudeFeedForward)[t] * 0.1f;
if (tau < 0.0001f) { if (tau < 0.0001f) {
stabSettings.feedForward_alpha[t] = 0.0f; // not trusting this to resolve to 0 stabSettings.feedForward_alpha[t] = 0.0f; // not trusting this to resolve to 0
} else { } else {