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tecs: speedrate: use p loop instead of pre calculated speed rate for now

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Thomas Gubler
2013-11-24 12:48:44 +01:00
parent 85a76a32c5
commit 3c6f01bea8
4 changed files with 46 additions and 25 deletions
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src/lib/external_lgpl/tecs/tecs.cpp
+35 -25
View File
@@ -169,35 +169,45 @@ void TECS::_update_speed_demand(void)
// calculate velocity rate limits based on physical performance limits
// provision to use a different rate limit if bad descent or underspeed condition exists
// Use 50% of maximum energy rate to allow margin for total energy contgroller
float velRateMax;
float velRateMin;
// float velRateMax;
// float velRateMin;
//
// if ((_badDescent) || (_underspeed)) {
// velRateMax = 0.5f * _STEdot_max / _integ5_state;
// velRateMin = 0.5f * _STEdot_min / _integ5_state;
//
// } else {
// velRateMax = 0.5f * _STEdot_max / _integ5_state;
// velRateMin = 0.5f * _STEdot_min / _integ5_state;
// }
//
// // Apply rate limit
// if ((_TAS_dem - _TAS_dem_adj) > (velRateMax * 0.1f)) {
// _TAS_dem_adj = _TAS_dem_adj + velRateMax * 0.1f;
// _TAS_rate_dem = velRateMax;
//
// } else if ((_TAS_dem - _TAS_dem_adj) < (velRateMin * 0.1f)) {
// _TAS_dem_adj = _TAS_dem_adj + velRateMin * 0.1f;
// _TAS_rate_dem = velRateMin;
//
// } else {
// _TAS_dem_adj = _TAS_dem;
//
//
// _TAS_rate_dem = (_TAS_dem - _TAS_dem_last) / 0.1f;
// }
if ((_badDescent) || (_underspeed)) {
velRateMax = 0.5f * _STEdot_max / _integ5_state;
velRateMin = 0.5f * _STEdot_min / _integ5_state;
} else {
velRateMax = 0.5f * _STEdot_max / _integ5_state;
velRateMin = 0.5f * _STEdot_min / _integ5_state;
}
// Apply rate limit
if ((_TAS_dem - _TAS_dem_adj) > (velRateMax * 0.1f)) {
_TAS_dem_adj = _TAS_dem_adj + velRateMax * 0.1f;
_TAS_rate_dem = velRateMax;
} else if ((_TAS_dem - _TAS_dem_adj) < (velRateMin * 0.1f)) {
_TAS_dem_adj = _TAS_dem_adj + velRateMin * 0.1f;
_TAS_rate_dem = velRateMin;
} else {
_TAS_dem_adj = _TAS_dem;
_TAS_rate_dem = (_TAS_dem - _TAS_dem_last) / 0.1f;
}
_TAS_dem_adj = _TAS_dem;
_TAS_rate_dem = (_TAS_dem_adj-_integ5_state)*_speedrate_p; //xxx: using a p loop for now
// Constrain speed demand again to protect against bad values on initialisation.
_TAS_dem_adj = constrain(_TAS_dem_adj, _TASmin, _TASmax);
_TAS_dem_last = _TAS_dem;
// _TAS_dem_last = _TAS_dem;
// warnx("_TAS_rate_dem: %.1f, _TAS_dem_adj %.1f, _integ5_state %.1f, _badDescent %u , _underspeed %u, velRateMin %.1f",
// (double)_TAS_rate_dem, (double)_TAS_dem_adj, (double)_integ5_state, _badDescent, _underspeed, velRateMin);
// warnx("_TAS_rate_dem: %.1f, _TAS_dem_adj %.1f, _integ5_state %.1f, _badDescent %u , _underspeed %u",
// (double)_TAS_rate_dem, (double)_TAS_dem_adj, (double)_integ5_state, _badDescent , _underspeed);
}
void TECS::_update_height_demand(float demand, float state)
src/lib/external_lgpl/tecs/tecs.h
+5
View File
@@ -184,6 +184,10 @@ public:
_heightrate_p = heightrate_p;
}
void set_speedrate_p(float speedrate_p) {
_speedrate_p = speedrate_p;
}
private:
// Last time update_50Hz was called
uint64_t _update_50hz_last_usec;
@@ -208,6 +212,7 @@ private:
float _rollComp;
float _spdWeight;
float _heightrate_p;
float _speedrate_p;
// throttle demand in the range from 0.0 to 1.0
float _throttle_dem;