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Merge branch 'tecs_experimental_prate' into fw_staging_ouputlimit_master_heightrate

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This commit is contained in:
Thomas Gubler 2013-10-31 12:17:42 +01:00
commit c20aee6327
2 changed files with 40 additions and 25 deletions
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63
src/lib/external_lgpl/tecs/tecs.cpp
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@ -2,6 +2,7 @@
#include "tecs.h"
#include <ecl/ecl.h>
#include <systemlib/err.h>
using namespace math;
@ -199,33 +200,47 @@ void TECS::_update_speed_demand(void)
_TAS_dem_last = _TAS_dem;
}
void TECS::_update_height_demand(float demand)
void TECS::_update_height_demand(float demand, float state)
{
// Apply 2 point moving average to demanded height
// This is required because height demand is only updated at 5Hz
_hgt_dem = 0.5f * (demand + _hgt_dem_in_old);
_hgt_dem_in_old = _hgt_dem;
// // Apply 2 point moving average to demanded height
// // This is required because height demand is only updated at 5Hz
// _hgt_dem = 0.5f * (demand + _hgt_dem_in_old);
// _hgt_dem_in_old = _hgt_dem;
//
// // printf("hgt_dem: %6.2f hgt_dem_last: %6.2f max_climb_rate: %6.2f\n", _hgt_dem, _hgt_dem_prev,
// // _maxClimbRate);
//
// // Limit height rate of change
// if ((_hgt_dem - _hgt_dem_prev) > (_maxClimbRate * 0.1f)) {
// _hgt_dem = _hgt_dem_prev + _maxClimbRate * 0.1f;
//
// } else if ((_hgt_dem - _hgt_dem_prev) < (-_maxSinkRate * 0.1f)) {
// _hgt_dem = _hgt_dem_prev - _maxSinkRate * 0.1f;
// }
//
// _hgt_dem_prev = _hgt_dem;
//
// // Apply first order lag to height demand
// _hgt_dem_adj = 0.05f * _hgt_dem + 0.95f * _hgt_dem_adj_last;
// _hgt_rate_dem = (_hgt_dem_adj - _hgt_dem_adj_last) / 0.1f;
// _hgt_dem_adj_last = _hgt_dem_adj;
//
// // printf("hgt_dem: %6.2f hgt_dem_adj: %6.2f hgt_dem_last: %6.2f hgt_rate_dem: %6.2f\n", _hgt_dem, _hgt_dem_adj, _hgt_dem_adj_last,
// // _hgt_rate_dem);
// printf("hgt_dem: %6.2f hgt_dem_last: %6.2f max_climb_rate: %6.2f\n", _hgt_dem, _hgt_dem_prev,
// _maxClimbRate);
// Limit height rate of change
if ((_hgt_dem - _hgt_dem_prev) > (_maxClimbRate * 0.1f)) {
_hgt_dem = _hgt_dem_prev + _maxClimbRate * 0.1f;
} else if ((_hgt_dem - _hgt_dem_prev) < (-_maxSinkRate * 0.1f)) {
_hgt_dem = _hgt_dem_prev - _maxSinkRate * 0.1f;
}
_hgt_dem_prev = _hgt_dem;
// Apply first order lag to height demand
_hgt_dem_adj = 0.05f * _hgt_dem + 0.95f * _hgt_dem_adj_last;
_hgt_rate_dem = (_hgt_dem_adj - _hgt_dem_adj_last) / 0.1f;
_hgt_dem_adj = 0.05f * demand + 0.95f * _hgt_dem_adj_last;
_hgt_dem_adj_last = _hgt_dem_adj;
// printf("hgt_dem: %6.2f hgt_dem_adj: %6.2f hgt_dem_last: %6.2f hgt_rate_dem: %6.2f\n", _hgt_dem, _hgt_dem_adj, _hgt_dem_adj_last,
// _hgt_rate_dem);
_hgt_rate_dem = (_hgt_dem_adj-state)*0.1f; //xxx: parameter
// Limit height rate of change
if (_hgt_rate_dem > _maxClimbRate) {
_hgt_rate_dem = _maxClimbRate;
} else if (_hgt_rate_dem < -_maxSinkRate) {
_hgt_rate_dem = -_maxSinkRate;
}
warnx("_hgt_rate_dem: %.4f, _hgt_dem_adj %.4f", _hgt_rate_dem, _hgt_dem_adj);
}
void TECS::_detect_underspeed(void)
@ -500,7 +515,7 @@ void TECS::update_pitch_throttle(const math::Dcm &rotMat, float pitch, float bar
_update_speed_demand();
// Calculate the height demand
_update_height_demand(hgt_dem);
_update_height_demand(hgt_dem, baro_altitude);
// Detect underspeed condition
_detect_underspeed();

2
src/lib/external_lgpl/tecs/tecs.h
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@ -327,7 +327,7 @@ private:
void _update_speed_demand(void);
// Update the demanded height
void _update_height_demand(float demand);
void _update_height_demand(float demand, float state);
// Detect an underspeed condition
void _detect_underspeed(void);