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battery: make time remaining estimation dependent on level flight cha… (#22401)

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* battery: make time remaining estimation dependent on level flight characteristis for FW

* battery: fix that FW flight is also correctly detected when vehicle_status is not updated

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

* FixedwingPositionControl: Move constant to header file

* flight phase estimation: use tecs height rate reference to check for level flight

---------

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
KonradRudin
2024-02-06 17:32:09 +01:00
committed by GitHub
co-authored by Silvan Fuhrer
parent bf52d8adc9
commit 3576d513cd
8 changed files with 60 additions and 4 deletions
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src/modules/fw_pos_control/FixedwingPositionControl.hpp
+6
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@@ -72,6 +72,7 @@
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/airspeed_validated.h>
#include <uORB/topics/flight_phase_estimation.h>
#include <uORB/topics/landing_gear.h>
#include <uORB/topics/launch_detection_status.h>
#include <uORB/topics/manual_control_setpoint.h>
@@ -165,6 +166,9 @@ static constexpr float MANUAL_TOUCHDOWN_NUDGE_INPUT_DEADZONE = 0.15f;
// [s] time interval after touchdown for ramping in runway clamping constraints (touchdown is assumed at FW_LND_TD_TIME after start of flare)
static constexpr float POST_TOUCHDOWN_CLAMP_TIME = 0.5f;
// [m/s] maximum reference altitude rate threshhold
static constexpr float MAX_ALT_REF_RATE_FOR_LEVEL_FLIGHT = 0.1f;
class FixedwingPositionControl final : public ModuleBase<FixedwingPositionControl>, public ModuleParams,
public px4::WorkItem
{
@@ -215,6 +219,7 @@ private:
uORB::Publication<landing_gear_s> _landing_gear_pub {ORB_ID(landing_gear)};
uORB::Publication<normalized_unsigned_setpoint_s> _flaps_setpoint_pub{ORB_ID(flaps_setpoint)};
uORB::Publication<normalized_unsigned_setpoint_s> _spoilers_setpoint_pub{ORB_ID(spoilers_setpoint)};
uORB::PublicationData<flight_phase_estimation_s> _flight_phase_estimation_pub{ORB_ID(flight_phase_estimation)};
manual_control_setpoint_s _manual_control_setpoint{};
position_setpoint_triplet_s _pos_sp_triplet{};
@@ -388,6 +393,7 @@ private:
TECS _tecs;
bool _tecs_is_running{false};
// VTOL / TRANSITION
bool _is_vtol_tailsitter{false};
matrix::Vector2d _transition_waypoint{(double)NAN, (double)NAN};