From 158878875279821f55aec0e26eb5e86b49dda200 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Niccol=C3=B2=20Betto?= <niccolo.betto@skywarder.eu>
Date: Thu, 10 Oct 2024 10:58:31 +0200
Subject: [PATCH] [Payload] Update flight parameters for EuRoC
---
src/boards/Payload/Configs/FlightModeManagerConfig.h | 2 +-
src/boards/Payload/Configs/NASConfig.h | 4 ++--
src/boards/Payload/Configs/WingConfig.h | 6 +++---
3 files changed, 6 insertions(+), 6 deletions(-)
diff --git a/src/boards/Payload/Configs/FlightModeManagerConfig.h b/src/boards/Payload/Configs/FlightModeManagerConfig.h
index ce970db6a..a625d669c 100644
--- a/src/boards/Payload/Configs/FlightModeManagerConfig.h
+++ b/src/boards/Payload/Configs/FlightModeManagerConfig.h
@@ -34,7 +34,7 @@ namespace FlightModeManager
/* linter-off */ using namespace std::chrono_literals;
constexpr auto MISSION_TIMEOUT = 15min;
-constexpr auto APOGEE_TIMEOUT = 18s;
+constexpr auto APOGEE_TIMEOUT = 28s;
} // namespace FlightModeManager
} // namespace Config
diff --git a/src/boards/Payload/Configs/NASConfig.h b/src/boards/Payload/Configs/NASConfig.h
index f26f950da..236584d82 100644
--- a/src/boards/Payload/Configs/NASConfig.h
+++ b/src/boards/Payload/Configs/NASConfig.h
@@ -47,8 +47,8 @@ static const Boardcore::NASConfig CONFIG = {
.SIGMA_W = 0.0019,
.SIGMA_ACC = 0.202,
.SIGMA_MAG = 0.0047,
- .SIGMA_GPS = {0.0447f, 0.0447f, 0.1f / 30.0f, 0.1f / 30.0f},
- .SIGMA_BAR = 4.5097,
+ .SIGMA_GPS = {0.0447f, 0.0447f, 1.0f / 30.0f, 1.0f / 30.0f},
+ .SIGMA_BAR = 400.0f,
.SIGMA_POS = 2.0,
.SIGMA_VEL = 1.0,
.SIGMA_PITOT = 1e-3,
diff --git a/src/boards/Payload/Configs/WingConfig.h b/src/boards/Payload/Configs/WingConfig.h
index 593831e11..acf6bff2d 100644
--- a/src/boards/Payload/Configs/WingConfig.h
+++ b/src/boards/Payload/Configs/WingConfig.h
@@ -51,8 +51,8 @@ enum class AlgorithmId : size_t
namespace Default
{
#if defined(EUROC)
-constexpr auto TARGET_LAT = 39.389733f;
-constexpr auto TARGET_LON = -8.288992f;
+constexpr auto TARGET_LAT = 39.38479088598281f;
+constexpr auto TARGET_LON = -8.28564625292085f;
#elif defined(ROCCARASO)
constexpr auto TARGET_LAT = 41.805101925447715f;
constexpr auto TARGET_LON = 14.053726810082074f;
@@ -98,7 +98,7 @@ namespace AltitudeTrigger
{
/* linter off */ using namespace Boardcore::Units::Frequency;
-constexpr auto DEPLOYMENT_ALTITUDE = 470; // [meters]
+constexpr auto DEPLOYMENT_ALTITUDE = 600; // [meters]
constexpr auto CONFIDENCE = 10; // [samples]
constexpr auto UPDATE_RATE = 10_hz;
} // namespace AltitudeTrigger
--
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