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TECS: rename variables and methods to make clear which are EAS and which TAS

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2021-01-23 09:34:34 -05:00
committed by Daniel Agar
parent 4922659ef4
commit 5e32e9be5a
3 changed files with 29 additions and 29 deletions
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src/lib/tecs/TECS.hpp
+10 -9
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@@ -74,14 +74,15 @@ public:
* Must be called prior to udating tecs control loops
* Must be called at 50Hz or greater
*/
void update_vehicle_state_estimates(float airspeed, const float speed_deriv_forward, bool altitude_lock, bool in_air,
void update_vehicle_state_estimates(float equivalent_airspeed, const float speed_deriv_forward, bool altitude_lock,
bool in_air,
float altitude, float vz);
/**
* Update the control loop calculations
*/
void update_pitch_throttle(const matrix::Dcmf &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 EAS_setpoint, float equivalent_airspeed, float eas_to_tas, bool climb_out_setpoint, float pitch_min_climbout,
float throttle_min, float throttle_setpoint_max, float throttle_cruise,
float pitch_limit_min, float pitch_limit_max);
@@ -111,8 +112,8 @@ public:
void set_heightrate_ff(float heightrate_ff) { _height_setpoint_gain_ff = heightrate_ff; }
void set_height_error_time_constant(float time_const) { _height_error_gain = 1.0f / math::max(time_const, 0.1f); }
void set_indicated_airspeed_max(float airspeed) { _indicated_airspeed_max = airspeed; }
void set_indicated_airspeed_min(float airspeed) { _indicated_airspeed_min = airspeed; }
void set_equivalent_airspeed_max(float airspeed) { _equivalent_airspeed_max = airspeed; }
void set_equivalent_airspeed_min(float airspeed) { _equivalent_airspeed_min = airspeed; }
void set_pitch_damping(float damping) { _pitch_damping_gain = damping; }
void set_vertical_accel_limit(float limit) { _vert_accel_limit = limit; }
@@ -214,12 +215,12 @@ private:
float _pitch_speed_weight{1.0f}; ///< speed control weighting used by pitch demand calculation
float _height_error_gain{0.2f}; ///< height error inverse time constant [1/s]
float _height_setpoint_gain_ff{0.0f}; ///< gain from height demand derivative to demanded climb rate
float _airspeed_error_gain{0.1f}; ///< airspeed error inverse time constant [1/s]
float _indicated_airspeed_min{3.0f}; ///< equivalent airspeed demand lower limit (m/sec)
float _indicated_airspeed_max{30.0f}; ///< equivalent airspeed demand upper limit (m/sec)
float _airspeed_error_gain{0.1f}; ///< airspeed error inverse time constant [1/s]
float _equivalent_airspeed_min{3.0f}; ///< equivalent airspeed demand lower limit (m/sec)
float _equivalent_airspeed_max{30.0f}; ///< equivalent airspeed demand upper limit (m/sec)
float _throttle_slewrate{0.0f}; ///< throttle demand slew rate limit (1/sec)
float _STE_rate_time_const{0.1f}; ///< filter time constant for specific total energy rate (damping path) (s)
float _speed_derivative_time_const{0.01f}; ///< speed derivative filter time constant (s)
float _speed_derivative_time_const{0.01f}; ///< speed derivative filter time constant (s)
// complimentary filter states
float _vert_vel_state{0.0f}; ///< complimentary filter state - height rate (m/sec)
@@ -297,7 +298,7 @@ private:
/**
* Update the airspeed internal state using a second order complementary filter
*/
void _update_speed_states(float airspeed_setpoint, float indicated_airspeed, float eas_to_tas);
void _update_speed_states(float airspeed_setpoint, float equivalent_airspeed, float cas_to_tas);
/**
* Update the desired airspeed