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tecs fix code style

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This commit is contained in:
Daniel Agar
2017-10-22 20:37:40 +02:00
committed by Lorenz Meier
parent 79995b2c15
commit 4f2d571c89
2 changed files with 29 additions and 16 deletions
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tecs/tecs.cpp
+25 -13
View File
@@ -35,7 +35,6 @@
#include "tecs.h"
#include <ecl/ecl.h>
#include <systemlib/err.h>
#include <geo/geo.h>
using math::constrain;
@@ -54,8 +53,8 @@ using math::min;
* which is used by the airspeed complimentary filter.
*/
void TECS::update_vehicle_state_estimates(float airspeed, const math::Matrix<3, 3> &rotMat,
const math::Vector<3> &accel_body, bool altitude_lock, bool in_air,
float altitude, bool vz_valid, float vz, float az)
const math::Vector<3> &accel_body, bool altitude_lock, bool in_air,
float altitude, bool vz_valid, float vz, float az)
{
// calculate the time lapsed since the last update
@@ -75,11 +74,14 @@ void TECS::update_vehicle_state_estimates(float airspeed, const math::Matrix<3,
if (reset_altitude) {
_vert_pos_state = altitude;
if (vz_valid) {
_vert_vel_state = -vz;
} else {
_vert_vel_state = 0.0f;
}
_vert_accel_state = 0.0f;
_states_initalized = false;
}
@@ -148,6 +150,7 @@ void TECS::_update_speed_states(float airspeed_setpoint, float indicated_airspee
// Calculate the time in seconds since the last update and use the default time step value if out of bounds
uint64_t now = ecl_absolute_time();
float dt = max((now - _speed_update_timestamp), UINT64_C(0)) * 1.0e-6f;
if (dt < DT_MIN || dt > DT_MAX) {
dt = DT_DEFAULT;
@@ -206,6 +209,7 @@ void TECS::_update_speed_setpoint()
if ((_uncommanded_descent_recovery) || (_underspeed_detected)) {
_TAS_setpoint = _TAS_min;
}
_TAS_setpoint = constrain(_TAS_setpoint, _TAS_min, _TAS_max);
// Apply limits on the demanded rate of change of speed based based on physical performance limits
@@ -263,7 +267,8 @@ void TECS::_update_height_setpoint(float desired, float state)
// Calculate the demanded climb rate proportional to height error plus a feedforward term to provide
// tight tracking during steady climb and descent manouvres.
_hgt_rate_setpoint = (_hgt_setpoint_adj - state) * _height_error_gain + _height_setpoint_gain_ff * (_hgt_setpoint_adj - _hgt_setpoint_adj_prev) / _dt;
_hgt_rate_setpoint = (_hgt_setpoint_adj - state) * _height_error_gain + _height_setpoint_gain_ff *
(_hgt_setpoint_adj - _hgt_setpoint_adj_prev) / _dt;
_hgt_setpoint_adj_prev = _hgt_setpoint_adj;
// Limit the rate of change of height demand to respect vehicle performance limits
@@ -282,8 +287,8 @@ void TECS::_detect_underspeed()
return;
}
if (((_tas_state < _TAS_min * 0.9f) && (_throttle_setpoint >= _throttle_setpoint_max * 0.95f)) || ((_vert_pos_state < _hgt_setpoint_adj)
&& _underspeed_detected)) {
if (((_tas_state < _TAS_min * 0.9f) && (_throttle_setpoint >= _throttle_setpoint_max * 0.95f))
|| ((_vert_pos_state < _hgt_setpoint_adj) && _underspeed_detected)) {
_underspeed_detected = true;
@@ -341,6 +346,7 @@ void TECS::_update_throttle_setpoint(const float throttle_cruise, const math::Ma
// Specific total energy rate = 0 at cruise throttle
// Specific total energy rate = _STE_rate_min is acheived when throttle is set to to _throttle_setpoint_min
float throttle_predicted = 0.0f;
if (STE_rate_setpoint >= 0) {
// throttle is between cruise and maximum
throttle_predicted = throttle_cruise + STE_rate_setpoint / _STE_rate_max * (_throttle_setpoint_max - throttle_cruise);
@@ -361,8 +367,10 @@ void TECS::_update_throttle_setpoint(const float throttle_cruise, const math::Ma
// Rate limit the throttle demand
if (fabsf(_throttle_slewrate) > 0.01f) {
float throttle_increment_limit = _dt * (_throttle_setpoint_max - _throttle_setpoint_min) * _throttle_slewrate;
_throttle_setpoint = constrain(_throttle_setpoint, _last_throttle_setpoint - throttle_increment_limit, _last_throttle_setpoint + throttle_increment_limit);
_throttle_setpoint = constrain(_throttle_setpoint, _last_throttle_setpoint - throttle_increment_limit,
_last_throttle_setpoint + throttle_increment_limit);
}
_last_throttle_setpoint = _throttle_setpoint;
// Calculate throttle integrator state upper and lower limits with allowance for
@@ -411,10 +419,12 @@ void TECS::_detect_uncommanded_descent()
float STE_rate = _SPE_rate + _SKE_rate;
// If total energy is very low and reducing, throttle is high, and we are not in an underspeed condition, then enter uncommanded descent recovery mode
bool enter_mode = !_uncommanded_descent_recovery && !_underspeed_detected && (_STE_error > 200.0f) && (STE_rate < 0.0f) && (_throttle_setpoint >= _throttle_setpoint_max * 0.9f);
bool enter_mode = !_uncommanded_descent_recovery && !_underspeed_detected && (_STE_error > 200.0f) && (STE_rate < 0.0f)
&& (_throttle_setpoint >= _throttle_setpoint_max * 0.9f);
// If we enter an underspeed cindition or recover the required total energy, then exit uncommanded descent recovery mode
bool exit_mode = _uncommanded_descent_recovery && (_underspeed_detected || (_STE_error < 0.0f));
if (enter_mode) {
_uncommanded_descent_recovery = true;
@@ -470,10 +480,12 @@ void TECS::_update_pitch_setpoint()
// Prevent the integrator changing in a direction that will increase pitch demand saturation
// Decay the integrator at the control loop time constant if the pitch demand fromthe previous time step is saturated
if (_pitch_setpoint_unc > _pitch_setpoint_max) {
pitch_integ_input = min(pitch_integ_input, min((_pitch_setpoint_max - _pitch_setpoint_unc) * climb_angle_to_SEB_rate / _pitch_time_constant, 0.0f));
pitch_integ_input = min(pitch_integ_input,
min((_pitch_setpoint_max - _pitch_setpoint_unc) * climb_angle_to_SEB_rate / _pitch_time_constant, 0.0f));
} else if (_pitch_setpoint_unc < _pitch_setpoint_min) {
pitch_integ_input = max(pitch_integ_input, max((_pitch_setpoint_min - _pitch_setpoint_unc) * climb_angle_to_SEB_rate / _pitch_time_constant, 0.0f));
pitch_integ_input = max(pitch_integ_input,
max((_pitch_setpoint_min - _pitch_setpoint_unc) * climb_angle_to_SEB_rate / _pitch_time_constant, 0.0f));
}
// Update the pitch integrator state
@@ -574,7 +586,7 @@ void TECS::_update_STE_rate_lim()
}
void TECS::update_pitch_throttle(const math::Matrix<3, 3> &rotMat, float pitch, float baro_altitude, float hgt_setpoint,
float EAS_setpoint, float indicated_airspeed, float EAS2TAS, bool climb_out_setpoint, float pitch_min_climbout,
float EAS_setpoint, float indicated_airspeed, float eas_to_tas, bool climb_out_setpoint, float pitch_min_climbout,
float throttle_min, float throttle_max, float throttle_cruise, float pitch_limit_min, float pitch_limit_max)
{
@@ -590,7 +602,7 @@ void TECS::update_pitch_throttle(const math::Matrix<3, 3> &rotMat, float pitch,
_climbout_mode_active = climb_out_setpoint;
// Initialize selected states and variables as required
_initialize_states(pitch, throttle_cruise, baro_altitude, pitch_min_climbout, EAS2TAS);
_initialize_states(pitch, throttle_cruise, baro_altitude, pitch_min_climbout, eas_to_tas);
// Don't run TECS control agorithms when not in flight
if (!_in_air) {
@@ -598,7 +610,7 @@ void TECS::update_pitch_throttle(const math::Matrix<3, 3> &rotMat, float pitch,
}
// Update the true airspeed state estimate
_update_speed_states(EAS_setpoint, indicated_airspeed, EAS2TAS);
_update_speed_states(EAS_setpoint, indicated_airspeed, eas_to_tas);
// Calculate rate limits for specific total energy
_update_STE_rate_lim();
tecs/tecs.h
+4 -3
View File
@@ -150,7 +150,7 @@ public:
* Must be called at 50Hz or greater
*/
void update_vehicle_state_estimates(float airspeed, const math::Matrix<3, 3> &rotMat,
const math::Vector<3> &accel_body, bool altitude_lock, bool in_air,
const math::Vector<3> &accel_body, bool altitude_lock, bool in_air,
float altitude, bool vz_valid, float vz, float az);
/**
@@ -158,7 +158,7 @@ public:
*/
void update_pitch_throttle(const math::Matrix<3, 3> &rotMat, float pitch, float baro_altitude, float hgt_setpoint,
float EAS_setpoint, float indicated_airspeed, float eas_to_tas, bool climb_out_setpoint, float pitch_min_climbout,
float throttle_min, float _throttle_setpoint_max, float throttle_cruise,
float throttle_min, float throttle_setpoint_max, float throttle_cruise,
float pitch_limit_min, float pitch_limit_max);
float get_throttle_setpoint(void) { return _throttle_setpoint; }
@@ -478,7 +478,8 @@ private:
/**
* Initialize the controller
*/
void _initialize_states(float pitch, float throttle_cruise, float baro_altitude, float min_pitch, float eas_to_tas);
void _initialize_states(float pitch, float throttle_cruise, float baro_altitude, float pitch_min_climbout,
float eas_to_tas);
/**
* Calculate specific total energy rate limits