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FW Position Controller: rename _airspeed to _airspeed_eas

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-12-06 09:29:36 +01:00
parent b8c81f6281
commit 589f0f1fc7
2 changed files with 10 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/fw_pos_control/FixedwingPositionControl.cpp
+8 -8
View File
@@ -220,12 +220,12 @@ FixedwingPositionControl::airspeed_poll()
if (PX4_ISFINITE(airspeed_validated.calibrated_airspeed_m_s)
&& PX4_ISFINITE(airspeed_validated.true_airspeed_m_s)
&& (airspeed_validated.calibrated_airspeed_m_s > 0.0f)) {
&& (airspeed_validated.calibrated_airspeed_m_s > FLT_EPSILON)) {
airspeed_valid = true;
_time_airspeed_last_valid = airspeed_validated.timestamp;
_airspeed = airspeed_validated.calibrated_airspeed_m_s;
_airspeed_eas = airspeed_validated.calibrated_airspeed_m_s;
_eas2tas = constrain(airspeed_validated.true_airspeed_m_s / airspeed_validated.calibrated_airspeed_m_s, 0.9f, 2.0f);
}
@@ -648,7 +648,7 @@ void
FixedwingPositionControl::updateManualTakeoffStatus()
{
if (!_completed_manual_takeoff) {
const bool at_controllable_airspeed = _airspeed > _performance_model.getMinimumCalibratedAirspeed(getLoadFactor())
const bool at_controllable_airspeed = _airspeed_eas > _performance_model.getMinimumCalibratedAirspeed(getLoadFactor())
|| !_airspeed_valid;
const bool is_hovering = _vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING
&& _control_mode.flag_armed;
@@ -1372,7 +1372,7 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo
_runway_takeoff.forceSetFlyState();
}
_runway_takeoff.update(now, takeoff_airspeed, _airspeed, _current_altitude - _takeoff_ground_alt,
_runway_takeoff.update(now, takeoff_airspeed, _airspeed_eas, _current_altitude - _takeoff_ground_alt,
clearance_altitude_amsl - _takeoff_ground_alt);
// yaw control is disabled once in "taking off" state
@@ -2535,7 +2535,7 @@ FixedwingPositionControl::tecs_update_pitch_throttle(const float control_interva
_airspeed_after_transition = _param_airspeed_trans;
} else {
_airspeed_after_transition = _airspeed;
_airspeed_after_transition = _airspeed_eas;
}
_airspeed_after_transition = constrain(_airspeed_after_transition,
@@ -2546,8 +2546,8 @@ FixedwingPositionControl::tecs_update_pitch_throttle(const float control_interva
// after transition we ramp up desired airspeed from the speed we had coming out of the transition
_airspeed_after_transition += control_interval * 2.0f; // increase 2m/s
if (_airspeed_after_transition < airspeed_sp && _airspeed < airspeed_sp) {
airspeed_sp = max(_airspeed_after_transition, _airspeed);
if (_airspeed_after_transition < airspeed_sp && _airspeed_eas < airspeed_sp) {
airspeed_sp = max(_airspeed_after_transition, _airspeed_eas);
} else {
_was_in_transition = false;
@@ -2575,7 +2575,7 @@ FixedwingPositionControl::tecs_update_pitch_throttle(const float control_interva
_current_altitude,
alt_sp,
airspeed_sp,
_airspeed,
_airspeed_eas,
_eas2tas,
throttle_min,
throttle_max,
src/modules/fw_pos_control/FixedwingPositionControl.hpp
+2 -2
View File
@@ -360,8 +360,8 @@ private:
// AIRSPEED
float _airspeed{0.0f};
float _eas2tas{1.0f};
float _airspeed_eas{0.f};
float _eas2tas{1.f};
bool _airspeed_valid{false};
float _air_density{atmosphere::kAirDensitySeaLevelStandardAtmos};