perfromance model: add FW_AIRSPD_FLP_SC to reduce with flaps

Signed-off-by: Silvan <silvan@auterion.com>

src/lib/fw_performance_model/PerformanceModel.cpp

@@ -144,17 +144,18 @@ float PerformanceModel::getCalibratedTrimAirspeed() const
 	return math::constrain(_param_fw_airspd_trim.get() * sqrtf(getWeightRatio()), _param_fw_airspd_min.get(),
 			       _param_fw_airspd_max.get());
 }
-float PerformanceModel::getMinimumCalibratedAirspeed(float load_factor) const
+float PerformanceModel::getMinimumCalibratedAirspeed(float load_factor, float flaps_setpoint) const
 {
-
 	load_factor = math::max(load_factor, FLT_EPSILON);
-	return _param_fw_airspd_min.get() * sqrtf(getWeightRatio() * load_factor);
+	const float airspeed_flap_factor = math::lerp(1.f, _param_fw_airspd_flp_sc.get(), flaps_setpoint);
+	return (_param_fw_airspd_min.get() * airspeed_flap_factor) * sqrtf(getWeightRatio() * load_factor);
 }
 
-float PerformanceModel::getCalibratedStallAirspeed(float load_factor) const
+float PerformanceModel::getCalibratedStallAirspeed(float load_factor, float flaps_setpoint) const
 {
 	load_factor = math::max(load_factor, FLT_EPSILON);
-	return _param_fw_airspd_stall.get() * sqrtf(getWeightRatio() * load_factor);
+	const float airspeed_flap_factor = math::lerp(1.f, _param_fw_airspd_flp_sc.get(), flaps_setpoint);
+	return (_param_fw_airspd_stall.get() * airspeed_flap_factor) * sqrtf(getWeightRatio() * load_factor);
 }
 
 float PerformanceModel::getMaximumCalibratedAirspeed() const

src/lib/fw_performance_model/PerformanceModel.hpp

@@ -94,11 +94,12 @@ public:
 	float getCalibratedTrimAirspeed() const;
 
 	/**
-	 * Get the minimum airspeed compensated for weight and load factor due to bank angle.
+	 * Get the minimum airspeed compensated for weight, load factor due to bank angle and flaps.
 	 * @param load_factor due to banking
+	 * @param flaps_setpoint Flaps setpoint, normalized in range [0,1]
 	 * @return calibrated minimum airspeed in m/s
 	 */
-	float getMinimumCalibratedAirspeed(float load_factor = 1.0f) const;
+	float getMinimumCalibratedAirspeed(float load_factor, float flaps_setpoint) const;
 
 	/**
 	 * Get the maximum airspeed.
@@ -109,9 +110,10 @@ public:
 	/**
 	 * get the stall airspeed compensated for load factor due to bank angle.
 	 * @param load_factor load factor due to banking
+	 * @param flaps_setpoint Flaps setpoint, normalized in range [0,1]
 	 * @return calibrated stall airspeed in m/s
 	 */
-	float getCalibratedStallAirspeed(float load_factor) const;
+	float getCalibratedStallAirspeed(float load_factor, float flaps_setpoint) const;
 
 	/**
 	 * Run some checks on parameters and detect unfeasible combinations.
@@ -134,7 +136,9 @@ private:
 		(ParamFloat<px4::params::FW_THR_MAX>) _param_fw_thr_max,
 		(ParamFloat<px4::params::FW_THR_MIN>) _param_fw_thr_min,
 		(ParamFloat<px4::params::FW_THR_ASPD_MIN>) _param_fw_thr_aspd_min,
-		(ParamFloat<px4::params::FW_THR_ASPD_MAX>) _param_fw_thr_aspd_max)
+		(ParamFloat<px4::params::FW_THR_ASPD_MAX>) _param_fw_thr_aspd_max,
+		(ParamFloat<px4::params::FW_AIRSPD_FLP_SC>) _param_fw_airspd_flp_sc
+	)
 
 	/**
 	 * Get the sea level trim throttle for a given calibrated airspeed setpoint.

src/lib/fw_performance_model/performance_model_params.c

@@ -212,3 +212,16 @@ PARAM_DEFINE_FLOAT(FW_AIRSPD_MIN, 10.0f);
  * @group FW Performance
  */
 PARAM_DEFINE_FLOAT(FW_AIRSPD_MAX, 20.0f);
+
+/**
+ * Airspeed scale with full flaps
+ *
+ * Factor applied to the minimum and stall airspeed when flaps are fully deployed.
+ *
+ * @min 0.5
+ * @max 1
+ * @decimal 2
+ * @increment 0.01
+ * @group FW Performance
+ */
+PARAM_DEFINE_FLOAT(FW_AIRSPD_FLP_SC, 1.f);

src/lib/npfg/CourseToAirspeedRefMapper.hpp

@@ -77,18 +77,6 @@ public:
 					      const matrix::Vector2f &wind_vel, float max_airspeed, float min_ground_speed) const;
 
 private:
-	/*
-	 * Determines a reference air velocity *without curvature compensation, but
-	 * including "optimal" true airspeed reference compensation in excess wind conditions.
-	 * Nominal and maximum true airspeed member variables must be set before using this method.
-	 *
-	 * @param[in] wind_vel Wind velocity vector [m/s]
-	 * @param[in] bearing_setpoint Bearing
-	 * @param[in] airspeed_true True airspeed setpoint[m/s]
-	 * @return Air velocity vector [m/s]
-	 */
-	matrix::Vector2f refAirVelocity(const matrix::Vector2f &wind_vel, const float bearing_setpoint,
-					float airspeed_true, float min_ground_speed) const;
 	/*
 	 * Projection of the air velocity vector onto the bearing line considering
 	 * a connected wind triangle.