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

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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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/airspeed_selector/airspeed_selector_main.cpp
+17 -17
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");
src/modules/fw_att_control/FixedwingAttitudeControl.cpp
+2 -2
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
src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+4 -4
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@@ -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 {
src/modules/mavlink/mavlink_messages.cpp
+1 -1
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@@ -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));
src/modules/sensors/sensors.cpp
+2 -2
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@@ -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;
src/modules/vtol_att_control/standard.cpp
+8 -8
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@@ -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;
};
};
src/modules/vtol_att_control/tailsitter.cpp
+2 -2
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;
src/modules/vtol_att_control/tiltrotor.cpp
+8 -8
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@@ -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);