TECS: added alpha filter classes to energy rate and tas derivative

Signed-off-by: RomanBapst <bapstroman@gmail.com>

src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp

@@ -111,6 +111,9 @@ FixedwingPositionControl::parameters_update()
 	_tecs.set_heightrate_p(_param_fw_t_hrate_p.get());
 	_tecs.set_heightrate_ff(_param_fw_t_hrate_ff.get());
 	_tecs.set_speedrate_p(_param_fw_t_srate_p.get());
+	_tecs.set_ste_rate_time_const(_param_ste_rate_time_const.get());
+	_tecs.set_speed_derivative_time_constant(_param_tas_rate_time_const.get());
+
 
 	// Landing slope
 	/* check if negative value for 2/3 of flare altitude is set for throttle cut */

src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp

@@ -408,6 +408,8 @@ private:
 		(ParamFloat<px4::params::FW_T_THRO_CONST>) _param_fw_t_thro_const,
 		(ParamFloat<px4::params::FW_T_TIME_CONST>) _param_fw_t_time_const,
 		(ParamFloat<px4::params::FW_T_VERT_ACC>) _param_fw_t_vert_acc,
+		(ParamFloat<px4::params::FW_T_STE_R_TC>) _param_ste_rate_time_const,
+		(ParamFloat<px4::params::FW_T_TAS_R_TC>) _param_tas_rate_time_const,
 
 		(ParamFloat<px4::params::FW_THR_ALT_SCL>) _param_fw_thr_alt_scl,
 		(ParamFloat<px4::params::FW_THR_CRUISE>) _param_fw_thr_cruise,

src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c

@@ -737,3 +737,30 @@ PARAM_DEFINE_FLOAT(FW_GND_SPD_MIN, 5.0f);
  * @group FW L1 Control
  */
 PARAM_DEFINE_INT32(FW_POSCTL_INV_ST, 0);
+ 
+/**
+ * Specific total energy rate first order filter time constant.
+ *
+ * This filter is applied to the specific total energy rate used for throttle damping.
+ *
+ * @min 0.0
+ * @max 2
+ * @decimal 2
+ * @increment 0.01
+ * @group FW TECS
+ */
+PARAM_DEFINE_FLOAT(FW_T_STE_R_TC, 0.4f);
+
+
+/**
+ * True airspeed rate first order filter time constant.
+ *
+ * This filter is applied to the true airspeed rate.
+ *
+ * @min 0.0
+ * @max 2
+ * @decimal 2
+ * @increment 0.01
+ * @group FW TECS
+ */
+PARAM_DEFINE_FLOAT(FW_T_TAS_R_TC, 0.4f);