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TECS: make more readable

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2023-04-04 11:54:21 +02:00
parent 2d01cf63ce
commit 60cd20c19c
2 changed files with 5 additions and 7 deletions
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10
src/lib/tecs/TECS.cpp
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@ -656,12 +656,10 @@ void TECS::initialize(const float altitude, const float altitude_rate, const flo
_debug_status.tecs_mode = _tecs_mode;
_debug_status.control = _control.getDebugOutput();
const TECSAirspeedFilter::AirspeedFilterState eas = _airspeed_filter.getState();
_debug_status.true_airspeed_filtered = eas_to_tas * eas.speed;
_debug_status.true_airspeed_derivative = eas_to_tas * eas.speed_rate;
const TECSAltitudeReferenceModel::AltitudeReferenceState ref_alt{_altitude_reference_model.getAltitudeReference()};
_debug_status.altitude_sp_ref = ref_alt.alt;
_debug_status.altitude_rate_alt_ref = ref_alt.alt_rate;
_debug_status.true_airspeed_filtered = eas_to_tas * _airspeed_filter.getState().speed;
_debug_status.true_airspeed_derivative = eas_to_tas * _airspeed_filter.getState().speed_rate;
_debug_status.altitude_sp_ref = _altitude_reference_model.getAltitudeReference().alt;
_debug_status.altitude_rate_alt_ref = _altitude_reference_model.getAltitudeReference().alt_rate;
_debug_status.altitude_rate_feedforward = _altitude_reference_model.getAltitudeRateReference();
_update_timestamp = hrt_absolute_time();

2
src/lib/tecs/TECS.hpp
View File

@ -249,7 +249,7 @@ public:
*
*/
struct Setpoint {
TECSAltitudeReferenceModel::AltitudeReferenceState altitude_reference; ///< Altitude reference from reference model.
TECSAltitudeReferenceModel::AltitudeReferenceState altitude_reference; ///< Altitude/height rate reference.
float altitude_rate_setpoint; ///< Altitude rate setpoint.
float tas_setpoint; ///< True airspeed setpoint.
};