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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
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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");