HAPSRG / Autopilot_Eigen

Eigen

Dependencies:   Eigen

Dependents:   optWingforHAPS_Eigen

Diff: Autopilot.cpp

Revision:
8:7f3ff375fd30
Parent:
7:988905aed916
--- a/Autopilot.cpp	Fri Nov 19 05:54:55 2021 +0000
+++ b/Autopilot.cpp	Fri Nov 19 08:22:01 2021 +0000
@@ -77,7 +77,7 @@
     float v2 = vel_ned.x*vel_ned.x + vel_ned.y*vel_ned.y + vel_ned.z*vel_ned.z;
     float E = alt + v2 / (2*G);
     float Esp = alt_obj + vel_obj*vel_obj / (2*G);
-    float dT_cruise = 0.4f;
+    float dT_cruise = 0.0f;
     dT_obj = dT_cruise;
     dT_obj += p_control(Esp - E, 0.05f);
     
@@ -111,8 +111,8 @@
     //dT目標値を0~1に制限
     if (dT_obj > 1.0f)
         dT_obj = 1.0f;
-    else if (dT_obj < 0.0f)
-        dT_obj = 0.0f;
+    else if (dT_obj < -1.0f)
+        dT_obj = -1.0f;
 }
 
 float Autopilot::p_control(float diff, float kp)