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Rename equivalent airspeed (EAS) to calibrated airspeed (CAS)

Browse Source 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2020-10-05 11:38:31 +02:00
parent f8d5b09b56
commit 8f858d95e6
13 changed files with 78 additions and 80 deletions
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4
msg/airspeed_validated.msg
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@ -1,10 +1,10 @@
uint64 timestamp # time since system start (microseconds)
float32 indicated_airspeed_m_s # indicated airspeed in m/s (IAS), set to NAN if invalid
float32 equivalent_airspeed_m_s # equivalent airspeed in m/s (accounts for instrumentation errors) (EAS), set to NAN if invalid
float32 calibrated_airspeed_m_s # calibrated airspeed in m/s (CAS, accounts for instrumentation errors), set to NAN if invalid
float32 true_airspeed_m_s # true filtered airspeed in m/s (TAS), set to NAN if invalid
float32 equivalent_ground_minus_wind_m_s # EAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption, set to NAN if invalid
float32 calibrated_ground_minus_wind_m_s # CAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption, set to NAN if invalid
float32 true_ground_minus_wind_m_s # TAS calculated from groundspeed - windspeed, where windspeed is estimated based on a zero-sideslip assumption, set to NAN if invalid
bool airspeed_sensor_measurement_valid # True if data from at least one airspeed sensor is declared valid.

8
src/lib/airspeed/airspeed.cpp
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@ -186,17 +186,17 @@ float calc_IAS(float differential_pressure)
}
float calc_TAS_from_EAS(float speed_equivalent, float pressure_ambient, float temperature_celsius)
float calc_TAS_from_CAS(float speed_calibrated, float pressure_ambient, float temperature_celsius)
{
if (!PX4_ISFINITE(temperature_celsius)) {
temperature_celsius = 15.f; // ICAO Standard Atmosphere 15 degrees celcius
}
return speed_equivalent * sqrtf(CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C / get_air_density(pressure_ambient,
return speed_calibrated * sqrtf(CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C / get_air_density(pressure_ambient,
temperature_celsius));
}
float calc_EAS_from_IAS(float speed_indicated, float scale)
float calc_CAS_from_IAS(float speed_indicated, float scale)
{
return speed_indicated * scale;
}
@ -228,7 +228,7 @@ float get_air_density(float static_pressure, float temperature_celsius)
return static_pressure / (CONSTANTS_AIR_GAS_CONST * (temperature_celsius - CONSTANTS_ABSOLUTE_NULL_CELSIUS));
}
float calc_EAS_from_TAS(float speed_true, float pressure_ambient, float temperature_celsius)
float calc_CAS_from_TAS(float speed_true, float pressure_ambient, float temperature_celsius)
{
return speed_true * sqrtf(get_air_density(pressure_ambient, temperature_celsius) / CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C);
}

24
src/lib/airspeed/airspeed.h
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@ -86,34 +86,32 @@ __EXPORT float calc_IAS_corrected(enum AIRSPEED_COMPENSATION_MODEL pmodel,
__EXPORT float calc_IAS(float differential_pressure);
/**
* Calculate true airspeed (TAS) from equivalent airspeed (EAS).
* Calculate true airspeed (TAS) from calibrated airspeed (CAS).
*
* Note that the true airspeed is NOT the groundspeed, because of the effects of wind
*
* @param speed_equivalent current equivalent airspeed
* @param speed_equivalent current calibrated airspeed
* @param pressure_ambient pressure at the side of the tube/airplane
* @param temperature_celsius air temperature in degrees celcius
* @return TAS in m/s
*/
__EXPORT float calc_TAS_from_EAS(float speed_indicated, float pressure_ambient,
__EXPORT float calc_TAS_from_CAS(float speed_indicated, float pressure_ambient,
float temperature_celsius);
/**
* Calculate equivalent airspeed (EAS) from indicated airspeed (IAS).
* Note that we neglect the conversion from CAS (calibrated airspeed) to EAS.
* Calculate calibrated airspeed (CAS) from indicated airspeed (IAS).
*
* @param speed_indicated current indicated airspeed
* @param scale scale from IAS to CAS (accounting for instrument and pitot position erros)
* @return EAS in m/s
* @return CAS in m/s
*/
__EXPORT float calc_EAS_from_IAS(float speed_indicated, float scale);
__EXPORT float calc_CAS_from_IAS(float speed_indicated, float scale);
/**
* Directly calculate true airspeed (TAS)
*
* Here we assume to have no instrument or pitot position error (IAS = CAS),
* and neglect the CAS to EAS conversion (CAS = EAS).
* Here we assume to have no instrument or pitot position error (IAS = CAS).
* Note that the true airspeed is NOT the groundspeed, because of the effects of wind.
*
* @param total_pressure pressure inside the pitot/prandtl tube
@ -132,16 +130,16 @@ __EXPORT float calc_TAS(float total_pressure, float static_pressure, float tempe
__EXPORT float get_air_density(float static_pressure, float temperature_celsius);
/**
* Calculate equivalent airspeed (EAS) from true airspeed (TAS).
* It is the inverse function to calc_TAS_from_EAS()
* Calculate calibrated airspeed (CAS) from true airspeed (TAS).
* It is the inverse function to calc_TAS_from_CAS()
*
*
* @param speed_true current true airspeed
* @param pressure_ambient pressure at the side of the tube/airplane
* @param temperature_celsius air temperature in degrees celcius
* @return EAS in m/s
* @return CAS in m/s
*/
__EXPORT float calc_EAS_from_TAS(float speed_true, float pressure_ambient,
__EXPORT float calc_CAS_from_TAS(float speed_true, float pressure_ambient,
float temperature_celsius);
__END_DECLS

20
src/lib/airspeed_validator/AirspeedValidator.cpp
View File

@ -33,7 +33,7 @@
/**
* @file AirspeedValidator.cpp
* Estimates airspeed scale error (from indicated to equivalent airspeed), performes
* Estimates airspeed scale error (from indicated to calibrated airspeed), performes
* checks on airspeed measurement input and reports airspeed valid or invalid.
*/
@ -52,8 +52,8 @@ AirspeedValidator::update_airspeed_validator(const airspeed_validator_update_dat
_previous_airspeed_timestamp = input_data.airspeed_timestamp;
}
update_EAS_scale();
update_EAS_TAS(input_data.air_pressure_pa, input_data.air_temperature_celsius);
update_CAS_scale();
update_CAS_TAS(input_data.air_pressure_pa, input_data.air_temperature_celsius);
update_wind_estimator(input_data.timestamp, input_data.airspeed_true_raw, input_data.lpos_valid, input_data.lpos_vx,
input_data.lpos_vy,
input_data.lpos_vz, input_data.lpos_evh, input_data.lpos_evv, input_data.att_q);
@ -117,22 +117,22 @@ AirspeedValidator::set_airspeed_scale_manual(float airspeed_scale_manual)
}
void
AirspeedValidator::update_EAS_scale()
AirspeedValidator::update_CAS_scale()
{
if (_wind_estimator.is_estimate_valid()) {
_EAS_scale = 1.0f / math::constrain(_wind_estimator.get_tas_scale(), 0.5f, 2.0f);
_CAS_scale = 1.0f / math::constrain(_wind_estimator.get_tas_scale(), 0.5f, 2.0f);
} else {
_EAS_scale = _airspeed_scale_manual;
_CAS_scale = _airspeed_scale_manual;
}
}
void
AirspeedValidator::update_EAS_TAS(float air_pressure_pa, float air_temperature_celsius)
AirspeedValidator::update_CAS_TAS(float air_pressure_pa, float air_temperature_celsius)
{
_EAS = calc_EAS_from_IAS(_IAS, _EAS_scale);
_TAS = calc_TAS_from_EAS(_EAS, air_pressure_pa, air_temperature_celsius);
_CAS = calc_CAS_from_IAS(_IAS, _CAS_scale);
_TAS = calc_TAS_from_CAS(_CAS, air_pressure_pa, air_temperature_celsius);
}
void
@ -204,7 +204,7 @@ AirspeedValidator::check_load_factor(float accel_z)
if (_in_fixed_wing_flight) {
if (!bad_number_fail) {
float max_lift_ratio = fmaxf(_EAS, 0.7f) / fmaxf(_airspeed_stall, 1.0f);
float max_lift_ratio = fmaxf(_CAS, 0.7f) / fmaxf(_airspeed_stall, 1.0f);
max_lift_ratio *= max_lift_ratio;
_load_factor_ratio = 0.95f * _load_factor_ratio + 0.05f * (fabsf(accel_z) / 9.81f) / max_lift_ratio;

14
src/lib/airspeed_validator/AirspeedValidator.hpp
View File

@ -79,10 +79,10 @@ public:
void update_airspeed_validator(const airspeed_validator_update_data &input_data);
float get_IAS() { return _IAS; }
float get_EAS() { return _EAS; }
float get_CAS() { return _CAS; }
float get_TAS() { return _TAS; }
bool get_airspeed_valid() { return _airspeed_valid; }
float get_EAS_scale() {return _EAS_scale;}
float get_CAS_scale() {return _CAS_scale;}
wind_estimate_s get_wind_estimator_states(uint64_t timestamp);
@ -115,15 +115,15 @@ private:
WindEstimator _wind_estimator{}; ///< wind estimator instance running in this particular airspeedValidator
// wind estimator parameter
bool _wind_estimator_scale_estimation_on{false}; ///< online scale estimation (IAS-->CAS/EAS) is on
bool _wind_estimator_scale_estimation_on{false}; ///< online scale estimation (IAS-->CAS) is on
float _airspeed_scale_manual{1.0f}; ///< manually entered airspeed scale
// general states
bool _in_fixed_wing_flight{false}; ///< variable to bypass innovation and load factor checks
float _IAS{0.0f}; ///< indicated airsped in m/s
float _EAS{0.0f}; ///< equivalent airspeed in m/s
float _CAS{0.0f}; ///< calibrated airspeed in m/s
float _TAS{0.0f}; ///< true airspeed in m/s
float _EAS_scale{1.0f}; ///< scale factor from IAS to EAS
float _CAS_scale{1.0f}; ///< scale factor from IAS to CAS
uint64_t _time_last_airspeed{0}; ///< time last airspeed measurement was received (uSec)
@ -162,8 +162,8 @@ private:
float lpos_vy,
float lpos_vz,
float lpos_evh, float lpos_evv, const float att_q[4]);
void update_EAS_scale();
void update_EAS_TAS(float air_pressure_pa, float air_temperature_celsius);
void update_CAS_scale();
void update_CAS_TAS(float air_pressure_pa, float air_temperature_celsius);
void check_airspeed_innovation(uint64_t timestamp, float estimator_status_vel_test_ratio,
float estimator_status_mag_test_ratio);
void check_load_factor(float accel_z);

34
src/modules/airspeed_selector/airspeed_selector_main.cpp
View File

@ -139,7 +139,7 @@ private:
bool _vehicle_local_position_valid{false}; /**< local position (from GPS) valid */
bool _in_takeoff_situation{true}; /**< in takeoff situation (defined as not yet stall speed reached) */
float _ground_minus_wind_TAS{0.0f}; /**< true airspeed from groundspeed minus windspeed */
float _ground_minus_wind_EAS{0.0f}; /**< equivalent airspeed from groundspeed minus windspeed */
float _ground_minus_wind_CAS{0.0f}; /**< calibrated airspeed from groundspeed minus windspeed */
bool _scale_estimation_previously_on{false}; /**< scale_estimation was on in the last cycle */
@ -335,8 +335,8 @@ AirspeedModule::Run()
input_data.air_temperature_celsius = airspeed_raw.air_temperature_celsius;
/* update in_fixed_wing_flight for the current airspeed sensor validator */
/* takeoff situation is active from start till one of the sensors' IAS or groundspeed_EAS is above stall speed */
if (airspeed_raw.indicated_airspeed_m_s > _airspeed_stall.get() || _ground_minus_wind_EAS > _airspeed_stall.get()) {
/* takeoff situation is active from start till one of the sensors' IAS or groundspeed_CAS is above stall speed */
if (airspeed_raw.indicated_airspeed_m_s > _airspeed_stall.get() || _ground_minus_wind_CAS > _airspeed_stall.get()) {
_in_takeoff_situation = false;
}
@ -412,12 +412,12 @@ void AirspeedModule::update_params()
} else if (_scale_estimation_previously_on && !_param_west_scale_estimation_on.get()) {
if (_valid_airspeed_index > 0) {
_param_west_airspeed_scale.set(_airspeed_validator[_valid_airspeed_index - 1].get_EAS_scale());
_param_west_airspeed_scale.set(_airspeed_validator[_valid_airspeed_index - 1].get_CAS_scale());
_param_west_airspeed_scale.commit_no_notification();
_airspeed_validator[_valid_airspeed_index - 1].set_airspeed_scale_manual(_param_west_airspeed_scale.get());
mavlink_log_info(&_mavlink_log_pub, "Airspeed: estimated scale (ASPD_ASPD_SCALE): %0.2f",
(double)_airspeed_validator[_valid_airspeed_index - 1].get_EAS_scale());
(double)_airspeed_validator[_valid_airspeed_index - 1].get_CAS_scale());
} else {
mavlink_log_info(&_mavlink_log_pub, "Airspeed: can't estimate scale as no valid sensor.");
@ -482,7 +482,7 @@ void AirspeedModule::update_ground_minus_wind_airspeed()
float TAS_east = _vehicle_local_position.vy - _wind_estimate_sideslip.windspeed_east;
float TAS_down = _vehicle_local_position.vz; // no wind estimate in z
_ground_minus_wind_TAS = sqrtf(TAS_north * TAS_north + TAS_east * TAS_east + TAS_down * TAS_down);
_ground_minus_wind_EAS = calc_EAS_from_TAS(_ground_minus_wind_TAS, _vehicle_air_data.baro_pressure_pa,
_ground_minus_wind_CAS = calc_CAS_from_TAS(_ground_minus_wind_TAS, _vehicle_air_data.baro_pressure_pa,
_vehicle_air_data.baro_temp_celcius);
}
@ -540,9 +540,9 @@ void AirspeedModule::select_airspeed_and_publish()
airspeed_validated_s airspeed_validated = {};
airspeed_validated.timestamp = _time_now_usec;
airspeed_validated.true_ground_minus_wind_m_s = NAN;
airspeed_validated.equivalent_ground_minus_wind_m_s = NAN;
airspeed_validated.calibrated_ground_minus_wind_m_s = NAN;
airspeed_validated.indicated_airspeed_m_s = NAN;
airspeed_validated.equivalent_airspeed_m_s = NAN;
airspeed_validated.calibrated_airspeed_m_s = NAN;
airspeed_validated.true_airspeed_m_s = NAN;
airspeed_validated.airspeed_sensor_measurement_valid = false;
airspeed_validated.selected_airspeed_index = _valid_airspeed_index;
@ -552,20 +552,20 @@ void AirspeedModule::select_airspeed_and_publish()
break;
case airspeed_index::GROUND_MINUS_WIND_INDEX:
/* Take IAS, EAS, TAS from groundspeed-windspeed */
airspeed_validated.indicated_airspeed_m_s = _ground_minus_wind_EAS;
airspeed_validated.equivalent_airspeed_m_s = _ground_minus_wind_EAS;
/* Take IAS, CAS, TAS from groundspeed-windspeed */
airspeed_validated.indicated_airspeed_m_s = _ground_minus_wind_CAS;
airspeed_validated.calibrated_airspeed_m_s = _ground_minus_wind_CAS;
airspeed_validated.true_airspeed_m_s = _ground_minus_wind_TAS;
airspeed_validated.equivalent_ground_minus_wind_m_s = _ground_minus_wind_EAS;
airspeed_validated.calibrated_ground_minus_wind_m_s = _ground_minus_wind_CAS;
airspeed_validated.true_ground_minus_wind_m_s = _ground_minus_wind_TAS;
break;
default:
airspeed_validated.indicated_airspeed_m_s = _airspeed_validator[_valid_airspeed_index - 1].get_IAS();
airspeed_validated.equivalent_airspeed_m_s = _airspeed_validator[_valid_airspeed_index - 1].get_EAS();
airspeed_validated.calibrated_airspeed_m_s = _airspeed_validator[_valid_airspeed_index - 1].get_CAS();
airspeed_validated.true_airspeed_m_s = _airspeed_validator[_valid_airspeed_index - 1].get_TAS();
airspeed_validated.equivalent_ground_minus_wind_m_s = _ground_minus_wind_EAS;
airspeed_validated.calibrated_ground_minus_wind_m_s = _ground_minus_wind_CAS;
airspeed_validated.true_ground_minus_wind_m_s = _ground_minus_wind_TAS;
airspeed_validated.airspeed_sensor_measurement_valid = true;
break;
@ -607,12 +607,12 @@ int AirspeedModule::print_usage(const char *reason)
PRINT_MODULE_DESCRIPTION(
R"DESCR_STR(
### Description
This module provides a single airspeed_validated topic, containing an indicated (IAS),
equivalent (EAS), true airspeed (TAS) and the information if the estimation currently
This module provides a single airspeed_validated topic, containing indicated (IAS),
calibrated (CAS), true airspeed (TAS) and the information if the estimation currently
is invalid and if based sensor readings or on groundspeed minus windspeed.
Supporting the input of multiple "raw" airspeed inputs, this module automatically switches
to a valid sensor in case of failure detection. For failure detection as well as for
the estimation of a scale factor from IAS to EAS, it runs several wind estimators
the estimation of a scale factor from IAS to CAS, it runs several wind estimators
and also publishes those.
)DESCR_STR");

4
src/modules/fw_att_control/FixedwingAttitudeControl.cpp
View File

@ -240,7 +240,7 @@ FixedwingAttitudeControl::vehicle_land_detected_poll()
float FixedwingAttitudeControl::get_airspeed_and_update_scaling()
{
_airspeed_validated_sub.update();
const bool airspeed_valid = PX4_ISFINITE(_airspeed_validated_sub.get().equivalent_airspeed_m_s)
const bool airspeed_valid = PX4_ISFINITE(_airspeed_validated_sub.get().calibrated_airspeed_m_s)
&& (hrt_elapsed_time(&_airspeed_validated_sub.get().timestamp) < 1_s);
// if no airspeed measurement is available out best guess is to use the trim airspeed
@ -248,7 +248,7 @@ float FixedwingAttitudeControl::get_airspeed_and_update_scaling()
if ((_param_fw_arsp_mode.get() == 0) && airspeed_valid) {
/* prevent numerical drama by requiring 0.5 m/s minimal speed */
airspeed = math::max(0.5f, _airspeed_validated_sub.get().equivalent_airspeed_m_s);
airspeed = math::max(0.5f, _airspeed_validated_sub.get().calibrated_airspeed_m_s);
} else {
// VTOL: if we have no airspeed available and we are in hover mode then assume the lowest airspeed possible

8
src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
View File

@ -176,16 +176,16 @@ FixedwingPositionControl::airspeed_poll()
const airspeed_validated_s &airspeed_validated = _airspeed_validated_sub.get();
_eas2tas = 1.0f; //this is the default value, taken in case of invalid airspeed
if (PX4_ISFINITE(airspeed_validated.equivalent_airspeed_m_s)
if (PX4_ISFINITE(airspeed_validated.calibrated_airspeed_m_s)
&& PX4_ISFINITE(airspeed_validated.true_airspeed_m_s)
&& (airspeed_validated.equivalent_airspeed_m_s > 0.0f)) {
&& (airspeed_validated.calibrated_airspeed_m_s > 0.0f)) {
airspeed_valid = true;
_airspeed_last_valid = airspeed_validated.timestamp;
_airspeed = airspeed_validated.equivalent_airspeed_m_s;
_airspeed = airspeed_validated.calibrated_airspeed_m_s;
_eas2tas = constrain(airspeed_validated.true_airspeed_m_s / airspeed_validated.equivalent_airspeed_m_s, 0.9f, 2.0f);
_eas2tas = constrain(airspeed_validated.true_airspeed_m_s / airspeed_validated.calibrated_airspeed_m_s, 0.9f, 2.0f);
}
} else {

2
src/modules/mavlink/mavlink_messages.cpp
View File

@ -1707,7 +1707,7 @@ protected:
_airspeed_validated_sub.copy(&airspeed_validated);
mavlink_vfr_hud_t msg{};
msg.airspeed = airspeed_validated.equivalent_airspeed_m_s;
msg.airspeed = airspeed_validated.calibrated_airspeed_m_s;
msg.groundspeed = sqrtf(lpos.vx * lpos.vx + lpos.vy * lpos.vy);
msg.heading = math::degrees(wrap_2pi(lpos.heading));

4
src/modules/sensors/sensors.cpp
View File

@ -388,8 +388,8 @@ void Sensors::diff_pres_poll()
diff_pres.differential_pressure_filtered_pa, air_data.baro_pressure_pa,
air_temperature_celsius);
airspeed.true_airspeed_m_s = calc_TAS_from_EAS(airspeed.indicated_airspeed_m_s, air_data.baro_pressure_pa,
air_temperature_celsius); // assume that EAS = IAS as we don't have an EAS-scale here
airspeed.true_airspeed_m_s = calc_TAS_from_CAS(airspeed.indicated_airspeed_m_s, air_data.baro_pressure_pa,
air_temperature_celsius); // assume that CAS = IAS as we don't have an CAS-scale here
airspeed.air_temperature_celsius = air_temperature_celsius;

16
src/modules/vtol_att_control/standard.cpp
View File

@ -174,7 +174,7 @@ void Standard::update_vtol_state()
} else if (_vtol_schedule.flight_mode == vtol_mode::TRANSITION_TO_FW) {
// continue the transition to fw mode while monitoring airspeed for a final switch to fw mode
const bool airspeed_triggers_transition = PX4_ISFINITE(_airspeed_validated->equivalent_airspeed_m_s)
const bool airspeed_triggers_transition = PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s)
&& !_params->airspeed_disabled;
const bool minimum_trans_time_elapsed = time_since_trans_start > _params->front_trans_time_min;
@ -182,7 +182,7 @@ void Standard::update_vtol_state()
if (minimum_trans_time_elapsed) {
if (airspeed_triggers_transition) {
transition_to_fw = _airspeed_validated->equivalent_airspeed_m_s >= _params->transition_airspeed;
transition_to_fw = _airspeed_validated->calibrated_airspeed_m_s >= _params->transition_airspeed;
} else {
transition_to_fw = true;
@ -247,16 +247,16 @@ void Standard::update_transition_state()
// do blending of mc and fw controls if a blending airspeed has been provided and the minimum transition time has passed
if (_airspeed_trans_blend_margin > 0.0f &&
PX4_ISFINITE(_airspeed_validated->equivalent_airspeed_m_s) &&
_airspeed_validated->equivalent_airspeed_m_s > 0.0f &&
_airspeed_validated->equivalent_airspeed_m_s >= _params->airspeed_blend &&
PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s) &&
_airspeed_validated->calibrated_airspeed_m_s > 0.0f &&
_airspeed_validated->calibrated_airspeed_m_s >= _params->airspeed_blend &&
time_since_trans_start > _params->front_trans_time_min) {
mc_weight = 1.0f - fabsf(_airspeed_validated->equivalent_airspeed_m_s - _params->airspeed_blend) /
mc_weight = 1.0f - fabsf(_airspeed_validated->calibrated_airspeed_m_s - _params->airspeed_blend) /
_airspeed_trans_blend_margin;
// time based blending when no airspeed sensor is set
} else if (_params->airspeed_disabled || !PX4_ISFINITE(_airspeed_validated->equivalent_airspeed_m_s)) {
} else if (_params->airspeed_disabled || !PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s)) {
mc_weight = 1.0f - time_since_trans_start / _params->front_trans_time_min;
mc_weight = math::constrain(2.0f * mc_weight, 0.0f, 1.0f);
@ -416,4 +416,4 @@ Standard::waiting_on_tecs()
{
// keep thrust from transition
_v_att_sp->thrust_body[0] = _pusher_throttle;
};
};

4
src/modules/vtol_att_control/tailsitter.cpp
View File

@ -122,14 +122,14 @@ void Tailsitter::update_vtol_state()
case vtol_mode::TRANSITION_FRONT_P1: {
const bool airspeed_triggers_transition = PX4_ISFINITE(_airspeed_validated->equivalent_airspeed_m_s)
const bool airspeed_triggers_transition = PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s)
&& !_params->airspeed_disabled;
bool transition_to_fw = false;
if (pitch <= PITCH_TRANSITION_FRONT_P1) {
if (airspeed_triggers_transition) {
transition_to_fw = _airspeed_validated->equivalent_airspeed_m_s >= _params->transition_airspeed;
transition_to_fw = _airspeed_validated->calibrated_airspeed_m_s >= _params->transition_airspeed;
} else {
transition_to_fw = true;

16
src/modules/vtol_att_control/tiltrotor.cpp
View File

@ -148,14 +148,14 @@ void Tiltrotor::update_vtol_state()
float time_since_trans_start = (float)(hrt_absolute_time() - _vtol_schedule.transition_start) * 1e-6f;
const bool airspeed_triggers_transition = PX4_ISFINITE(_airspeed_validated->equivalent_airspeed_m_s)
const bool airspeed_triggers_transition = PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s)
&& !_params->airspeed_disabled;
bool transition_to_p2 = false;
if (time_since_trans_start > _params->front_trans_time_min) {
if (airspeed_triggers_transition) {
transition_to_p2 = _airspeed_validated->equivalent_airspeed_m_s >= _params->transition_airspeed;
transition_to_p2 = _airspeed_validated->calibrated_airspeed_m_s >= _params->transition_airspeed;
} else {
transition_to_p2 = _tilt_control >= _params_tiltrotor.tilt_transition &&
@ -300,19 +300,19 @@ void Tiltrotor::update_transition_state()
_mc_yaw_weight = 1.0f;
// reduce MC controls once the plane has picked up speed
if (!_params->airspeed_disabled && PX4_ISFINITE(_airspeed_validated->equivalent_airspeed_m_s) &&
_airspeed_validated->equivalent_airspeed_m_s > ARSP_YAW_CTRL_DISABLE) {
if (!_params->airspeed_disabled && PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s) &&
_airspeed_validated->calibrated_airspeed_m_s > ARSP_YAW_CTRL_DISABLE) {
_mc_yaw_weight = 0.0f;
}
if (!_params->airspeed_disabled && PX4_ISFINITE(_airspeed_validated->equivalent_airspeed_m_s) &&
_airspeed_validated->equivalent_airspeed_m_s >= _params->airspeed_blend) {
_mc_roll_weight = 1.0f - (_airspeed_validated->equivalent_airspeed_m_s - _params->airspeed_blend) /
if (!_params->airspeed_disabled && PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s) &&
_airspeed_validated->calibrated_airspeed_m_s >= _params->airspeed_blend) {
_mc_roll_weight = 1.0f - (_airspeed_validated->calibrated_airspeed_m_s - _params->airspeed_blend) /
(_params->transition_airspeed - _params->airspeed_blend);
}
// without airspeed do timed weight changes
if ((_params->airspeed_disabled || !PX4_ISFINITE(_airspeed_validated->equivalent_airspeed_m_s)) &&
if ((_params->airspeed_disabled || !PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s)) &&
time_since_trans_start > _params->front_trans_time_min) {
_mc_roll_weight = 1.0f - (time_since_trans_start - _params->front_trans_time_min) /
(_params->front_trans_time_openloop - _params->front_trans_time_min);