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tecs: use raw inertial acceleration for true airspeed complementary filter

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Signed-off-by: RomanBapst <bapstroman@gmail.com>
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RomanBapst
2021-03-31 20:12:40 -04:00
committed by Daniel Agar
parent 9dd6bef7f9
commit b66ae5f2d4
2 changed files with 9 additions and 6 deletions
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src/lib/tecs/TECS.hpp
+3 -2
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@@ -149,7 +149,7 @@ public:
float get_EAS_setpoint() { return _EAS_setpoint; };
float TAS_rate_setpoint() { return _TAS_rate_setpoint; }
float speed_derivative() { return _speed_derivative; }
float speed_derivative() { return _tas_rate_filtered; }
float STE_error() { return _STE_error; }
float STE_rate_error() { return _STE_rate_error; }
@@ -239,7 +239,7 @@ private:
float _pitch_integ_state{0.0f}; ///< pitch integrator state (rad)
float _last_throttle_setpoint{0.0f}; ///< throttle demand rate limiter state (1/sec)
float _last_pitch_setpoint{0.0f}; ///< pitch demand rate limiter state (rad/sec)
float _speed_derivative{0.0f}; ///< rate of change of speed along X axis (m/sec**2)
float _tas_rate_filtered{0.0f}; ///< low pass filtered rate of change of speed along X axis (m/sec**2)
// speed demand calculations
float _EAS{0.0f}; ///< equivalent airspeed (m/sec)
@@ -250,6 +250,7 @@ private:
float _EAS_setpoint{0.0f}; ///< Equivalent airspeed demand (m/sec)
float _TAS_setpoint_adj{0.0f}; ///< true airspeed demand tracked by the TECS algorithm (m/sec)
float _TAS_rate_setpoint{0.0f}; ///< true airspeed rate demand tracked by the TECS algorithm (m/sec**2)
float _tas_rate_raw{0.0f}; ///< true airspeed rate, calculated as inertial acceleration in body X direction
// height demand calculations
float _hgt_setpoint{0.0f}; ///< demanded height tracked by the TECS algorithm (m)