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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
2020-10-06 09:31:58 +02:00
parent f8d5b09b56
commit 8f858d95e6
13 changed files with 78 additions and 80 deletions
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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
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);