From aef42ae70a9a93e9c028045db11948903b2e2d33 Mon Sep 17 00:00:00 2001 From: Davide Basso <davide.basso@skywarder.eu> Date: Sat, 8 Mar 2025 14:47:52 +0100 Subject: [PATCH] [Parafoil] Change progressive-rotation decrement --- src/Parafoil/Configs/WingConfig.h | 2 +- src/Parafoil/StateMachines/WingController/WingController.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/Parafoil/Configs/WingConfig.h b/src/Parafoil/Configs/WingConfig.h index afa6ad074..2216b2669 100644 --- a/src/Parafoil/Configs/WingConfig.h +++ b/src/Parafoil/Configs/WingConfig.h @@ -45,7 +45,7 @@ constexpr auto TARGET_UPDATE_RATE = 10_hz; constexpr auto STRAIGHT_FLIGHT_TIMEOUT = 15_s; constexpr auto PROGRESSIVE_ROTATION_TIMEOUT = 5_s; constexpr auto COMMAND_PERIOD = 6_s; -constexpr auto WING_DECREMENT = 30_deg; +constexpr auto WING_DECREMENT = 20_deg; /** * @brief The available algorithms for the wing controller. diff --git a/src/Parafoil/StateMachines/WingController/WingController.cpp b/src/Parafoil/StateMachines/WingController/WingController.cpp index 3d47f9f06..e88ef98d9 100644 --- a/src/Parafoil/StateMachines/WingController/WingController.cpp +++ b/src/Parafoil/StateMachines/WingController/WingController.cpp @@ -498,7 +498,7 @@ void WingController::loadAlgorithms() step.timestamp = Microsecond{PROGRESSIVE_ROTATION_TIMEOUT}.value(); - for (auto angle = 150_deg; angle >= 0_deg; angle -= WING_DECREMENT) + for (auto angle = 80_deg; angle >= 0_deg; angle -= WING_DECREMENT) { step.servo1Angle = angle; step.servo2Angle = 0_deg; -- GitLab