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TECS: remove height rate complementary filter

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This commit is contained in:
Daniel Agar
2019-11-22 10:24:03 -05:00
parent e9890d01d9
commit 6630087654
4 changed files with 2 additions and 26 deletions
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2
src/lib/ecl

Submodule src/lib/ecl updated: 94484f01ce...011b4c2e4e

7
src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
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@@ -104,7 +104,6 @@ FixedwingPositionControl::FixedwingPositionControl(bool vtol) :
_parameter_handles.throttle_damp = param_find("FW_T_THR_DAMP"); _parameter_handles.throttle_damp = param_find("FW_T_THR_DAMP");
_parameter_handles.integrator_gain = param_find("FW_T_INTEG_GAIN"); _parameter_handles.integrator_gain = param_find("FW_T_INTEG_GAIN");
_parameter_handles.vertical_accel_limit = param_find("FW_T_VERT_ACC"); _parameter_handles.vertical_accel_limit = param_find("FW_T_VERT_ACC");
_parameter_handles.height_comp_filter_omega = param_find("FW_T_HGT_OMEGA");
_parameter_handles.speed_comp_filter_omega = param_find("FW_T_SPD_OMEGA"); _parameter_handles.speed_comp_filter_omega = param_find("FW_T_SPD_OMEGA");
_parameter_handles.roll_throttle_compensation = param_find("FW_T_RLL2THR"); _parameter_handles.roll_throttle_compensation = param_find("FW_T_RLL2THR");
_parameter_handles.speed_weight = param_find("FW_T_SPDWEIGHT"); _parameter_handles.speed_weight = param_find("FW_T_SPDWEIGHT");
@@ -244,10 +243,6 @@ FixedwingPositionControl::parameters_update()
_tecs.set_vertical_accel_limit(v); _tecs.set_vertical_accel_limit(v);
} }
if (param_get(_parameter_handles.height_comp_filter_omega, &v) == PX4_OK) {
_tecs.set_height_comp_filter_omega(v);
}
if (param_get(_parameter_handles.speed_comp_filter_omega, &v) == PX4_OK) { if (param_get(_parameter_handles.speed_comp_filter_omega, &v) == PX4_OK) {
_tecs.set_speed_comp_filter_omega(v); _tecs.set_speed_comp_filter_omega(v);
} }
@@ -1889,7 +1884,7 @@ FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float airspee
/* update TECS vehicle state estimates */ /* update TECS vehicle state estimates */
_tecs.update_vehicle_state_estimates(_airspeed, _R_nb, _tecs.update_vehicle_state_estimates(_airspeed, _R_nb,
accel_body, (_global_pos.timestamp > 0), in_air_alt_control, accel_body, (_global_pos.timestamp > 0), in_air_alt_control,
_global_pos.alt, _local_pos.v_z_valid, _local_pos.vz, _local_pos.az); _global_pos.alt, _local_pos.vz);
/* scale throttle cruise by baro pressure */ /* scale throttle cruise by baro pressure */
if (_parameters.throttle_alt_scale > FLT_EPSILON) { if (_parameters.throttle_alt_scale > FLT_EPSILON) {

1
src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
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@@ -325,7 +325,6 @@ private:
param_t throttle_damp; param_t throttle_damp;
param_t integrator_gain; param_t integrator_gain;
param_t vertical_accel_limit; param_t vertical_accel_limit;
param_t height_comp_filter_omega;
param_t speed_comp_filter_omega; param_t speed_comp_filter_omega;
param_t roll_throttle_compensation; param_t roll_throttle_compensation;
param_t speed_weight; param_t speed_weight;

18
src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
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@@ -601,24 +601,6 @@ PARAM_DEFINE_FLOAT(FW_T_INTEG_GAIN, 0.1f);
*/ */
PARAM_DEFINE_FLOAT(FW_T_VERT_ACC, 7.0f); PARAM_DEFINE_FLOAT(FW_T_VERT_ACC, 7.0f);
/**
* Complementary filter "omega" parameter for height
*
* This is the cross-over frequency (in radians/second) of the complementary
* filter used to fuse vertical acceleration and barometric height to obtain
* an estimate of height rate and height. Increasing this frequency weights
* the solution more towards use of the barometer, whilst reducing it weights
* the solution more towards use of the accelerometer data.
*
* @unit rad/s
* @min 1.0
* @max 10.0
* @decimal 1
* @increment 0.5
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_T_HGT_OMEGA, 3.0f);
/** /**
* Complementary filter "omega" parameter for speed * Complementary filter "omega" parameter for speed
* *