From 0c74dec674786b0cd5c73cb7be4c865cf6e1d908 Mon Sep 17 00:00:00 2001 From: Alberto Nidasio <alberto.nidasio@skywarder.eu> Date: Fri, 16 Sep 2022 23:44:48 +0200 Subject: [PATCH] [Roccaraso] Updated reference values and other configs --- src/boards/Main/Configs/ADAConfig.h | 6 +----- src/boards/Main/Configs/AirBrakesControllerConfig.h | 2 +- .../Main/StateMachines/ADAController/ADAController.cpp | 2 +- src/boards/common/ReferenceConfig.h | 4 ++-- 4 files changed, 5 insertions(+), 9 deletions(-) diff --git a/src/boards/Main/Configs/ADAConfig.h b/src/boards/Main/Configs/ADAConfig.h index f5e1ecf25..8b850d901 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 63b3665d7..4480be708 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 58d70122a..5cf98a941 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 63b52635c..26874c48f 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, }; -- GitLab