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TECS: some cosmetics

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Signed-off-by: RomanBapst <bapstroman@gmail.com>
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RomanBapst
2021-01-13 21:21:07 +03:00
committed by Roman Bapst
parent 97cc1e25dd
commit d4d1c0fe01
2 changed files with 25 additions and 27 deletions
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src/lib/tecs/TECS.hpp
+4 -7
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@@ -87,7 +87,7 @@ public:
float pitch_limit_min, float pitch_limit_max);
float get_throttle_setpoint() { return _last_throttle_setpoint; }
float get_pitch_setpoint() { return _pitch_setpoint; }
float get_pitch_setpoint() { return _last_pitch_setpoint; }
float get_speed_weight() { return _pitch_speed_weight; }
void reset_state() { _states_initialized = false; }
@@ -221,9 +221,6 @@ private:
float _STE_rate_time_const{0.1f}; ///< filter time constant for specific total energy rate (damping path) (s)
float _speed_derivative_time_const{0.01f}; ///< speed derivative filter time constant (s)
// controller outputs
float _pitch_setpoint{0.0f}; ///< pitch angle demand (radians)
// complimentary filter states
float _vert_vel_state{0.0f}; ///< complimentary filter state - height rate (m/sec)
float _vert_pos_state{0.0f}; ///< complimentary filter state - height (m)
@@ -280,9 +277,9 @@ private:
float _SEB_error{0.0f}; ///< specific energy balance error (m**2/sec**2)
float _SEB_rate_error{0.0f}; ///< specific energy balance rate error (m**2/sec**3)
// speed height weights
float _SPE_weight{1.0f};
float _SKE_weight{1.0f};
// speed height weighting
float _SPE_weighting{1.0f};
float _SKE_weighting{1.0f};
// time steps (non-fixed)
float _dt{DT_DEFAULT}; ///< Time since last update of main TECS loop (sec)