From 2d01cf63ced693e2b98d917d4dd32562b3df27b7 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Tue, 4 Apr 2023 10:53:17 +0200 Subject: [PATCH] TECS: rename _reference_model to _altitude_reference_model Signed-off-by: Silvan Fuhrer --- src/lib/tecs/TECS.cpp | 16 ++++++++-------- src/lib/tecs/TECS.hpp | 8 ++++---- 2 files changed, 12 insertions(+), 12 deletions(-) diff --git a/src/lib/tecs/TECS.cpp b/src/lib/tecs/TECS.cpp index 106bc19716..cdeb0bf2ab 100644 --- a/src/lib/tecs/TECS.cpp +++ b/src/lib/tecs/TECS.cpp @@ -639,12 +639,12 @@ void TECS::initialize(const float altitude, const float altitude_rate, const flo // Init subclasses TECSAltitudeReferenceModel::AltitudeReferenceState current_state{ .alt = altitude, .alt_rate = altitude_rate}; - _reference_model.initialize(current_state); + _altitude_reference_model.initialize(current_state); _airspeed_filter.initialize(equivalent_airspeed); TECSControl::Setpoint control_setpoint; - control_setpoint.altitude_reference = _reference_model.getAltitudeReference(); - control_setpoint.altitude_rate_setpoint = _reference_model.getAltitudeRateReference(); + control_setpoint.altitude_reference = _altitude_reference_model.getAltitudeReference(); + control_setpoint.altitude_rate_setpoint = _altitude_reference_model.getAltitudeRateReference(); control_setpoint.tas_setpoint = equivalent_airspeed * eas_to_tas; const TECSControl::Input control_input{ .altitude = altitude, @@ -659,10 +659,10 @@ void TECS::initialize(const float altitude, const float altitude_rate, const flo const TECSAirspeedFilter::AirspeedFilterState eas = _airspeed_filter.getState(); _debug_status.true_airspeed_filtered = eas_to_tas * eas.speed; _debug_status.true_airspeed_derivative = eas_to_tas * eas.speed_rate; - const TECSAltitudeReferenceModel::AltitudeReferenceState ref_alt{_reference_model.getAltitudeReference()}; + const TECSAltitudeReferenceModel::AltitudeReferenceState ref_alt{_altitude_reference_model.getAltitudeReference()}; _debug_status.altitude_sp_ref = ref_alt.alt; _debug_status.altitude_rate_alt_ref = ref_alt.alt_rate; - _debug_status.altitude_rate_feedforward = _reference_model.getAltitudeRateReference(); + _debug_status.altitude_rate_feedforward = _altitude_reference_model.getAltitudeRateReference(); _update_timestamp = hrt_absolute_time(); } @@ -711,11 +711,11 @@ void TECS::update(float pitch, float altitude, float hgt_setpoint, float EAS_set const TECSAltitudeReferenceModel::AltitudeReferenceState setpoint{ .alt = hgt_setpoint, .alt_rate = hgt_rate_sp}; - _reference_model.update(dt, setpoint, altitude, _reference_param); + _altitude_reference_model.update(dt, setpoint, altitude, _reference_param); TECSControl::Setpoint control_setpoint; - control_setpoint.altitude_reference = _reference_model.getAltitudeReference(); - control_setpoint.altitude_rate_setpoint = _reference_model.getAltitudeRateReference(); + control_setpoint.altitude_reference = _altitude_reference_model.getAltitudeReference(); + control_setpoint.altitude_rate_setpoint = _altitude_reference_model.getAltitudeRateReference(); // Calculate the demanded true airspeed // TODO this function should not be in the module. Only give feedback that the airspeed can't be achieved. diff --git a/src/lib/tecs/TECS.hpp b/src/lib/tecs/TECS.hpp index c9f13833ac..ce0efff6f0 100644 --- a/src/lib/tecs/TECS.hpp +++ b/src/lib/tecs/TECS.hpp @@ -642,7 +642,7 @@ public: .alt_rate = altitude_rate}; // reset altitude reference model. - _reference_model.initialize(init_state); + _altitude_reference_model.initialize(init_state); } float get_pitch_setpoint() {return _control.getPitchSetpoint();} @@ -652,9 +652,9 @@ public: ECL_TECS_MODE tecs_mode() { return _tecs_mode; } private: - TECSControl _control; ///< Control submodule. - TECSAirspeedFilter _airspeed_filter; ///< Airspeed filter submodule. - TECSAltitudeReferenceModel _reference_model; ///< Setpoint reference model submodule. + TECSControl _control; ///< Control submodule. + TECSAirspeedFilter _airspeed_filter; ///< Airspeed filter submodule. + TECSAltitudeReferenceModel _altitude_reference_model; ///< Setpoint reference model submodule. enum ECL_TECS_MODE _tecs_mode {ECL_TECS_MODE_NORMAL}; ///< Current activated mode.