diff --git a/src/boards/Main/Configs/ADAConfig.h b/src/boards/Main/Configs/ADAConfig.h index f5e1ecf25c4c3e9a385c50eb2166664385ccd887..8b850d9011051ee04bc2ec77545ad9853caad005 100644 --- a/src/boards/Main/Configs/ADAConfig.h +++ b/src/boards/Main/Configs/ADAConfig.h @@ -33,16 +33,12 @@ namespace ADAConfig constexpr uint32_t UPDATE_PERIOD = 20; // 50 hz static const float SAMPLING_PERIOD = UPDATE_PERIOD / 1000.0f; // in seconds -// Initialize the Kalman filter with a negative (pressure) acceleration in order -// to make it more responsive during the propulsive phase -static const float KALMAN_INITIAL_ACCELERATION = 0; - constexpr int PRES_STAB_TIMEOUT = 5 * 1000; // [ms] #ifdef EUROC constexpr int SHADOW_MODE_TIMEOUT = 16 * 1000; // [ms] #else -constexpr int SHADOW_MODE_TIMEOUT = 8 * 1000; // [ms] +constexpr int SHADOW_MODE_TIMEOUT = 7 * 1000; // [ms] #endif // When the vertical speed is smaller than this value, apogee is detected. diff --git a/src/boards/Main/Configs/AirBrakesControllerConfig.h b/src/boards/Main/Configs/AirBrakesControllerConfig.h index 63b3665d70dd096bff0202462059870045086d8a..4480be7084de1e32db6ead281cb3e467a58e1d6b 100644 --- a/src/boards/Main/Configs/AirBrakesControllerConfig.h +++ b/src/boards/Main/Configs/AirBrakesControllerConfig.h @@ -36,7 +36,7 @@ constexpr uint32_t UPDATE_PERIOD = 100; // 10 hz #ifdef EUROC static constexpr int SHADOW_MODE_TIMEOUT = 5 * 1000; #else -static constexpr int SHADOW_MODE_TIMEOUT = 3.5 * 1000; +static constexpr int SHADOW_MODE_TIMEOUT = 3.8 * 1000; #endif constexpr float MACH_LIMIT = 0.8; diff --git a/src/boards/Main/StateMachines/ADAController/ADAController.cpp b/src/boards/Main/StateMachines/ADAController/ADAController.cpp index 58d70122a398ecbbbc6b6745abdb1b3f5bd9a173..5cf98a9414dc509e1067ac8ed31981f599b64347 100644 --- a/src/boards/Main/StateMachines/ADAController/ADAController.cpp +++ b/src/boards/Main/StateMachines/ADAController/ADAController.cpp @@ -568,7 +568,7 @@ ADA::KalmanFilter::KalmanConfig ADAController::getADAKalmanConfig() R_INIT, P_INIT, ADA::KalmanFilter::CVectorN(ada.getReferenceValues().refPressure, 0, - KALMAN_INITIAL_ACCELERATION)}; + 0)}; } } // namespace Main diff --git a/src/boards/common/ReferenceConfig.h b/src/boards/common/ReferenceConfig.h index 63b52635c24a676d9dafd1dce8a5f6c27b5ac106..26874c48f42e0159564d6b02ab019ecdc7fcafa9 100644 --- a/src/boards/common/ReferenceConfig.h +++ b/src/boards/common/ReferenceConfig.h @@ -50,8 +50,8 @@ static const Boardcore::ReferenceValues defaultReferenceValues = { 1414.0, // [m] Altitude 85452.0, // [Pa] Pressure 278.95, // [K] Temperature - 41.8086605, // [deg] Start latitude - 14.0543387, // [deg] Start longitude + 41.8089005, // [deg] Start latitude + 14.0546716, // [deg] Start longitude Boardcore::Constants::MSL_PRESSURE, Boardcore::Constants::MSL_TEMPERATURE, };