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Code Issues Wiki Activity

Attenuate VEL_XY when UAV is traveling at high speed

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Pawel Spychalski (DzikuVx) 2020-01-19 20:50:39 +01:00
parent 608d08cfef
commit f30a212378
7 changed files with 107 additions and 18 deletions
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2
src/main/navigation/navigation_fixedwing.c
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@ -134,7 +134,7 @@ static void updateAltitudeVelocityAndPitchController_FW(timeDelta_t deltaMicros)
const float minDiveDeciDeg = -DEGREES_TO_DECIDEGREES(navConfig()->fw.max_dive_angle);
// PID controller to translate energy balance error [J] into pitch angle [decideg]
float targetPitchAngle = navPidApply3(&posControl.pids.fw_alt, demSEB, estSEB, US2S(deltaMicros), minDiveDeciDeg, maxClimbDeciDeg, 0, pitchGainInv);
float targetPitchAngle = navPidApply3(&posControl.pids.fw_alt, demSEB, estSEB, US2S(deltaMicros), minDiveDeciDeg, maxClimbDeciDeg, 0, pitchGainInv, 1.0f);
targetPitchAngle = pt1FilterApply4(&velzFilterState, targetPitchAngle, NAV_FW_PITCH_CUTOFF_FREQENCY_HZ, US2S(deltaMicros));
// Reconstrain pitch angle ( >0 - climb, <0 - dive)