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mtecs: add flightpathangle filter

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Thomas Gubler
2014-06-29 14:52:09 +02:00
parent 7f0b35a1b4
commit 263a2fa9b2
6 changed files with 43 additions and 22 deletions
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src/modules/fw_pos_control_l1/mtecs/mTecs.cpp
+12 -7
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@@ -58,6 +58,7 @@ mTecs::mTecs() :
_controlEnergyDistribution(this, "PIT", true),
_controlAltitude(this, "FPA", true),
_controlAirSpeed(this, "ACC"),
_flightPathAngleLowpass(this, "FPA_LP"),
_airspeedLowpass(this, "A_LP"),
_airspeedDerivative(this, "AD"),
_throttleSp(0.0f),
@@ -123,7 +124,7 @@ int mTecs::updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAng
/* time measurement */
updateTimeMeasurement();
/* Filter arispeed */
/* Filter airspeed */
float airspeedFiltered = _airspeedLowpass.update(airspeed);
/* calculate longitudinal acceleration setpoint from airspeed setpoint*/
@@ -138,8 +139,6 @@ int mTecs::updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAng
}
/* Write part of the status message */
_status.flightPathAngleSp = flightPathAngleSp;
_status.flightPathAngle = flightPathAngle;
_status.airspeedSp = airspeedSp;
_status.airspeed = airspeed;
_status.airspeedFiltered = airspeedFiltered;
@@ -164,8 +163,11 @@ int mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flight
/* update parameters first */
updateParams();
/* Filter flightpathangle */
float flightPathAngleFiltered = _flightPathAngleLowpass.update(flightPathAngle);
/* calculate values (energies) */
float flightPathAngleError = flightPathAngleSp - flightPathAngle;
float flightPathAngleError = flightPathAngleSp - flightPathAngleFiltered;
float airspeedDerivative = 0.0f;
if(_airspeedDerivative.getDt() > 0.0f) {
airspeedDerivative = _airspeedDerivative.update(airspeedFiltered);
@@ -175,12 +177,12 @@ int mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flight
float airspeedDerivativeNormSp = airspeedDerivativeSp / CONSTANTS_ONE_G;
float airspeedDerivativeNormError = airspeedDerivativeNormSp - airspeedDerivativeNorm;
float totalEnergyRate = flightPathAngle + airspeedDerivativeNorm;
float totalEnergyRate = flightPathAngleFiltered + airspeedDerivativeNorm;
float totalEnergyRateError = flightPathAngleError + airspeedDerivativeNormError;
float totalEnergyRateSp = flightPathAngleSp + airspeedDerivativeNormSp;
float totalEnergyRateError2 = totalEnergyRateSp - totalEnergyRate;
float energyDistributionRate = flightPathAngle - airspeedDerivativeNorm;
float energyDistributionRate = flightPathAngleFiltered - airspeedDerivativeNorm;
float energyDistributionRateError = flightPathAngleError - airspeedDerivativeNormError;
float energyDistributionRateSp = flightPathAngleSp - airspeedDerivativeNormSp;
float energyDistributionRateError2 = energyDistributionRateSp - energyDistributionRate;
@@ -202,7 +204,7 @@ int mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flight
BlockOutputLimiter *outputLimiterThrottle = &_controlTotalEnergy.getOutputLimiter();
BlockOutputLimiter *outputLimiterPitch = &_controlEnergyDistribution.getOutputLimiter();
if (mode == TECS_MODE_TAKEOFF) {
outputLimiterThrottle = &_BlockOutputLimiterTakeoffThrottle; //XXX: accept prelaunch values from launchdetector
outputLimiterThrottle = &_BlockOutputLimiterTakeoffThrottle;
outputLimiterPitch = &_BlockOutputLimiterTakeoffPitch;
} else if (mode == TECS_MODE_LAND) {
// only limit pitch but do not limit throttle
@@ -221,6 +223,9 @@ int mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flight
bool limitApplied = limitOverride.applyOverride(*outputLimiterThrottle, *outputLimiterPitch);
/* Write part of the status message */
_status.flightPathAngleSp = flightPathAngleSp;
_status.flightPathAngle = flightPathAngle;
_status.flightPathAngleFiltered = flightPathAngleFiltered;
_status.airspeedDerivativeSp = airspeedDerivativeSp;
_status.airspeedDerivative = airspeedDerivative;
_status.totalEnergyRateSp = totalEnergyRateSp;