From f2651f90e5ba079a2e1751a90dde8342e7067a64 Mon Sep 17 00:00:00 2001 From: Federico Lolli <federico.lolli@skywarder.eu> Date: Mon, 20 Nov 2023 10:51:06 +0100 Subject: [PATCH] updated sfd parameters --- skyward-boardcore | 2 +- src/boards/Main/Configs/PressureSFDConfig.h | 38 ++++++++++++++------- 2 files changed, 26 insertions(+), 14 deletions(-) diff --git a/skyward-boardcore b/skyward-boardcore index 20759bca3..57e4e76ec 160000 --- a/skyward-boardcore +++ b/skyward-boardcore @@ -1 +1 @@ -Subproject commit 20759bca3e7e7f3cad0def6071b71caaf0e7a4e1 +Subproject commit 57e4e76ecf2e52084026aed3932e4d5040e5921b diff --git a/src/boards/Main/Configs/PressureSFDConfig.h b/src/boards/Main/Configs/PressureSFDConfig.h index 531d2e9c0..7c12db99d 100644 --- a/src/boards/Main/Configs/PressureSFDConfig.h +++ b/src/boards/Main/Configs/PressureSFDConfig.h @@ -38,11 +38,17 @@ namespace Ascent using FeaturesArr = std::array<float, Boardcore::SFDAscent::NUM_FEATURES>; using SVMConf = Boardcore::SVM<Boardcore::SFDAscent::NUM_FEATURES>::SVMConfig; -constexpr FeaturesArr BETA = {0.0, 0.0, 0.0, 0.0, 0.0}; -constexpr FeaturesArr MU = {0.0, 0.0, 0.0, 0.0, 0.0}; -constexpr FeaturesArr SIGMA = {0.0, 0.0, 0.0, 0.0, 0.0}; -constexpr float BIAS = 0.0; -constexpr float SCALE = 0.0; +constexpr FeaturesArr BETA = {0.0538048411163895, 1.21829189675103, + -0.0135044925652423, -2.46984492432602, + -1.7469906902922, 0.236220477009252}; +constexpr FeaturesArr MU = {1306.72004416967, 0.351190954475099, + 1.99867039117899, -0.0185223927903996, + 7.45589640537251, 12.630364102307}; +constexpr FeaturesArr SIGMA = {1055.13277492127, 0.0457124377157068, + 1.83336893903227, 0.0874316265177542, + 1.19779014092547, 0.999724384795152}; +constexpr float BIAS = -0.945291058126819; +constexpr float SCALE = 3.25293089128877; constexpr SVMConf SVM_CONF = {BETA, MU, SIGMA, BIAS, SCALE}; } // namespace Ascent @@ -53,11 +59,17 @@ namespace Descent using FeaturesArr = std::array<float, Boardcore::SFDDescent::NUM_FEATURES>; using SVMConf = Boardcore::SVM<Boardcore::SFDDescent::NUM_FEATURES>::SVMConfig; -constexpr FeaturesArr BETA = {0.0, 0.0, 0.0, 0.0, 0.0}; -constexpr FeaturesArr MU = {0.0, 0.0, 0.0, 0.0, 0.0}; -constexpr FeaturesArr SIGMA = {0.0, 0.0, 0.0, 0.0, 0.0}; -constexpr float BIAS = 0.0; -constexpr float SCALE = 0.0; +constexpr FeaturesArr BETA = {-1.45789357962751, 0.149212230274532, + 0.543310785123195, 0.36657833324541, + -0.033476999690174}; +constexpr FeaturesArr MU = {1.69681676472682, 261.15944469953, + 0.0114112487465149, -0.0168260044537472, + 2.1355858817835}; +constexpr FeaturesArr SIGMA = {0.20823828849293, 356.048735537809, + 0.156943288015148, 0.480743200014727, + 0.912588579044107}; +constexpr float BIAS = -4.55617842982864; +constexpr float SCALE = 0.775015678995177; constexpr SVMConf SVM_CONF = {BETA, MU, SIGMA, BIAS, SCALE}; } // namespace Descent @@ -65,9 +77,9 @@ constexpr SVMConf SVM_CONF = {BETA, MU, SIGMA, BIAS, SCALE}; // LowPass filter namespace LowPass { -constexpr float CUTOFF_FREQ = 0.0; -constexpr float GAIN = 0.0; -constexpr float LAMBDA = 0.0; +constexpr float CUTOFF_FREQ = 500.0; // [Hz] +constexpr float GAIN = 500.0; +constexpr float LAMBDA = 0.000045399929762484854; } // namespace LowPass } // namespace PressureSFDConfig -- GitLab