From 2313bf7cd5cbf14ffaec61116cce84b9c0c18653 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Wed, 23 Jul 2014 16:59:04 +0200 Subject: [PATCH] mTECS: Note better filter defaults to get airspeed response a bit smoother. Damp also ACC response with filter more than currently --- .../fw_pos_control_l1/mtecs/mTecs_params.c | 18 +++++++++--------- 1 file 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 4ca31fe201..7cfe63fbc2 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) @@ -286,13 +293,6 @@ 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 *