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FW Position control: add option to scale min airspeed wtih wind magnitude

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-09-20 18:16:58 +02:00
parent e8ac9b266b
commit c6c7733587
3 changed files with 26 additions and 1 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+6
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@@ -438,6 +438,12 @@ FixedwingPositionControl::get_auto_airspeed_setpoint(const float control_interva
MAX_WEIGHT_RATIO);
}
// Adapt min airspeed setpoint based on wind estimate for more stability in higher winds.
if (_airspeed_valid && _wind_valid && _param_fw_wind_arsp_sc.get() > FLT_EPSILON) {
calibrated_min_airspeed = math::min(calibrated_min_airspeed + _param_fw_wind_arsp_sc.get() * _wind_vel.length(),
_param_fw_airspd_max.get());
}
// Stall speed increases with the square root of the load factor times the weight ratio
// Vs ~ sqrt(load_factor * weight_ratio)
calibrated_min_airspeed = constrain(_param_fw_airspd_stall.get() * sqrtf(load_factor * weight_ratio),