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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

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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
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2
flight/modules/Stabilization/stabilization.c
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@ -372,7 +372,7 @@ static void BankUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
// calculation
const float fakeDt = 0.0025f;
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) {
stabSettings.feedForward_alpha[t] = 0.0f; // not trusting this to resolve to 0
} else {