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stop manually defining physical constants

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This commit is contained in:
Daniel Agar
2018-04-19 07:24:58 +02:00
committed by Lorenz Meier
parent 7538ea44e3
commit d75fd72c02
27 changed files with 66 additions and 84 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+1 -1
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@@ -1918,7 +1918,7 @@ FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float airspee
if (orb_copy(ORB_ID(sensor_baro), _sensor_baro_sub, &baro) == PX4_OK) {
if (PX4_ISFINITE(baro.pressure) && PX4_ISFINITE(_parameters.throttle_alt_scale)) {
// scale throttle as a function of sqrt(p0/p) (~ EAS -> TAS at low speeds and altitudes ignoring temperature)
const float eas2tas = sqrtf(MSL_PRESSURE_MILLIBAR / baro.pressure);
const float eas2tas = sqrtf(CONSTANTS_STD_PRESSURE_MBAR / baro.pressure);
const float scale = constrain((eas2tas - 1.0f) * _parameters.throttle_alt_scale + 1.0f, 1.0f, 2.0f);
throttle_max = constrain(throttle_max * scale, throttle_min, 1.0f);
src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
-2
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@@ -103,8 +103,6 @@ static constexpr float MANUAL_THROTTLE_CLIMBOUT_THRESH =
0.85f; ///< a throttle / pitch input above this value leads to the system switching to climbout mode
static constexpr float ALTHOLD_EPV_RESET_THRESH = 5.0f;
static constexpr float MSL_PRESSURE_MILLIBAR = 1013.25f; ///< standard atmospheric pressure in millibar
using math::constrain;
using math::max;
using math::min;