From 1c729aa45027b5a929eb7b2b7c5c97eecd93cc8f Mon Sep 17 00:00:00 2001
From: "luca.conterio" <luca.conterio@skywarder.eu>
Date: Wed, 15 Sep 2021 10:41:06 +0200
Subject: [PATCH] [AirBrakes] final abk params for roccaraso
---
src/boards/DeathStack/AirBrakes/AirBrakesAlgorithm.h | 6 +++---
src/boards/DeathStack/configs/AirBrakesConfig.h | 2 +-
2 files changed, 4 insertions(+), 4 deletions(-)
diff --git a/src/boards/DeathStack/AirBrakes/AirBrakesAlgorithm.h b/src/boards/DeathStack/AirBrakes/AirBrakesAlgorithm.h
index 3b38f7eb..4c4c3906 100644
--- a/src/boards/DeathStack/AirBrakes/AirBrakesAlgorithm.h
+++ b/src/boards/DeathStack/AirBrakes/AirBrakesAlgorithm.h
@@ -283,12 +283,12 @@ void AirBrakesControlAlgorithm<T>::step()
logAirbrakesData(t);
#ifdef ROCCARASO
- if (t - begin_ts < 2 * AB_OPENING_TIMEOUT * 1000)
+ if (t - begin_ts < AB_OPENING_TIMEOUT * 1000)
{ // after 3 seconds open to 100%
actuator->set(AB_SERVO_MAX_POS, true);
}
- else if (t - begin_ts > 2 * AB_OPENING_TIMEOUT * 1000 &&
- t - begin_ts < 3 * AB_OPENING_TIMEOUT * 1000)
+ else if (t - begin_ts > AB_OPENING_TIMEOUT * 1000 &&
+ t - begin_ts < 2 * AB_OPENING_TIMEOUT * 1000)
{ // after 6 seconds open to 100%
actuator->set(AB_SERVO_MAX_POS / 2, true);
}
diff --git a/src/boards/DeathStack/configs/AirBrakesConfig.h b/src/boards/DeathStack/configs/AirBrakesConfig.h
index 2e9a5bf3..02442953 100644
--- a/src/boards/DeathStack/configs/AirBrakesConfig.h
+++ b/src/boards/DeathStack/configs/AirBrakesConfig.h
@@ -93,7 +93,7 @@ static constexpr float ABK_UPDATE_PERIOD_SECONDS = ABK_UPDATE_PERIOD / 1000;
#ifdef EUROC
static constexpr int SHADOW_MODE_DURATION = 7.5 * 1000;
#else
-static constexpr int SHADOW_MODE_DURATION = 100; //3.5 * 1000;
+static constexpr int SHADOW_MODE_DURATION = 3.5 * 1000;
#endif
#ifdef EUROC
--
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