From ae4270c71035013bd22d313ef57dc1c7b9243080 Mon Sep 17 00:00:00 2001 From: Angelo Prete <angelo.prete@skywarder.eu> Date: Wed, 15 May 2024 12:39:25 +0200 Subject: [PATCH] [Parafoil] Updated GPS sampling frequency to 10Hz and wing controller update frequency to 2Hz --- src/boards/Parafoil/Configs/SensorsConfig.h | 2 +- src/boards/Parafoil/Configs/WingConfig.h | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/boards/Parafoil/Configs/SensorsConfig.h b/src/boards/Parafoil/Configs/SensorsConfig.h index 3cd7c0277..09e756e75 100644 --- a/src/boards/Parafoil/Configs/SensorsConfig.h +++ b/src/boards/Parafoil/Configs/SensorsConfig.h @@ -75,7 +75,7 @@ constexpr Boardcore::LPS22DF::ODR LPS22DF_ODR = Boardcore::LPS22DF::ODR_100; constexpr uint32_t LPS22DF_PERIOD = 20; // [ms] 50Hz // UBXGPS -constexpr uint8_t UBXGPS_SAMPLE_RATE = 5; +constexpr uint8_t UBXGPS_SAMPLE_RATE = 10; // The +5 is needed because GPS data must be read faster than it is produced (to // not cause delays) constexpr uint32_t UBXGPS_PERIOD = 1000 / (UBXGPS_SAMPLE_RATE + 5); // [ms] diff --git a/src/boards/Parafoil/Configs/WingConfig.h b/src/boards/Parafoil/Configs/WingConfig.h index 1ea29f7ea..128a54465 100644 --- a/src/boards/Parafoil/Configs/WingConfig.h +++ b/src/boards/Parafoil/Configs/WingConfig.h @@ -55,7 +55,7 @@ constexpr float DEFAULT_TARGET_LON = 9.1544219; constexpr int WING_STRAIGHT_FLIGHT_TIMEOUT = 15 * 1000; // [ms] -constexpr int WING_UPDATE_PERIOD = 1000; // [ms] +constexpr int WING_UPDATE_PERIOD = 500; // [ms] constexpr float PI_CONTROLLER_SATURATION_MAX_LIMIT = Boardcore::Constants::PI; constexpr float PI_CONTROLLER_SATURATION_MIN_LIMIT = -Boardcore::Constants::PI; -- GitLab