Added PerformanceModel for fixed wing (#22091)

* created a Performance Model for fixed wing vehicle
- added compensation for maximum climbrate, minimum sinkrate, minimum airspeed and trim airspeed based on weight ratio and air density
- added atmosphere lib to standard atmosphere calculations


---------

Signed-off-by: RomanBapst <bapstroman@gmail.com>
Co-authored-by: Thomas Stastny <thomas.stastny@auterion.com>

src/drivers/uavcan/sensors/airspeed.cpp

@@ -38,7 +38,7 @@
 #include <drivers/drv_hrt.h>
 #include "airspeed.hpp"
 #include <math.h>
-#include <lib/geo/geo.h> // For CONSTANTS_*
+#include <lib/atmosphere/atmosphere.h>
 
 const char *const UavcanAirspeedBridge::NAME = "airspeed";
 
@@ -104,7 +104,7 @@ UavcanAirspeedBridge::ias_sub_cb(const
 	report.timestamp   		= hrt_absolute_time();
 	report.indicated_airspeed_m_s   = msg.indicated_airspeed;
 	report.true_airspeed_m_s   	= _last_tas_m_s;
-	report.air_temperature_celsius 	= _last_outside_air_temp_k + CONSTANTS_ABSOLUTE_NULL_CELSIUS;
+	report.air_temperature_celsius 	= _last_outside_air_temp_k + atmosphere::kAbsoluteNullCelsius;
 
 	publish(msg.getSrcNodeID().get(), &report);
 }

src/drivers/uavcan/sensors/baro.cpp

@@ -41,7 +41,7 @@
 
 #include <uORB/PublicationMulti.hpp>
 #include <uORB/topics/sensor_baro.h>
-#include <lib/geo/geo.h> // For CONSTANTS_*
+#include <lib/atmosphere/atmosphere.h>
 
 const char *const UavcanBarometerBridge::NAME = "baro";
 
@@ -78,10 +78,10 @@ void UavcanBarometerBridge::air_temperature_sub_cb(const
 
 	} else if (msg.static_temperature < 0) {
 		// handle previous incorrect temperature conversion to Kelvin where 273 was subtracted instead of added (https://github.com/PX4/PX4-Autopilot/pull/19061)
-		float temperature_c = msg.static_temperature - CONSTANTS_ABSOLUTE_NULL_CELSIUS;
+		float temperature_c = msg.static_temperature - atmosphere::kAbsoluteNullCelsius;
 
 		if (temperature_c > -40.f && temperature_c < 120.f) {
-			_last_temperature_kelvin = temperature_c - CONSTANTS_ABSOLUTE_NULL_CELSIUS;
+			_last_temperature_kelvin = temperature_c - atmosphere::kAbsoluteNullCelsius;
 		}
 	}
 }
@@ -119,7 +119,7 @@ void UavcanBarometerBridge::air_pressure_sub_cb(const
 	sensor_baro.pressure = msg.static_pressure;
 
 	if (PX4_ISFINITE(_last_temperature_kelvin) && (_last_temperature_kelvin >= 0.f)) {
-		sensor_baro.temperature = _last_temperature_kelvin + CONSTANTS_ABSOLUTE_NULL_CELSIUS;
+		sensor_baro.temperature = _last_temperature_kelvin + atmosphere::kAbsoluteNullCelsius;
 
 	} else {
 		sensor_baro.temperature = NAN;

src/drivers/uavcan/sensors/battery.cpp

@@ -33,7 +33,7 @@
 
 #include "battery.hpp"
 
-#include <lib/geo/geo.h>
+#include <lib/atmosphere/atmosphere.h>
 #include <px4_defines.h>
 #include <px4_platform_common/log.h>
 
@@ -116,7 +116,7 @@ UavcanBatteryBridge::battery_sub_cb(const uavcan::ReceivedDataStructure<uavcan::
 
 	_battery_status[instance].remaining = msg.state_of_charge_pct / 100.0f; // between 0 and 1
 	// _battery_status[instance].scale = msg.; // Power scaling factor, >= 1, or -1 if unknown
-	_battery_status[instance].temperature = msg.temperature + CONSTANTS_ABSOLUTE_NULL_CELSIUS; // Kelvin to Celsius
+	_battery_status[instance].temperature = msg.temperature + atmosphere::kAbsoluteNullCelsius; // Kelvin to Celsius
 	// _battery_status[instance].cell_count = msg.;
 	_battery_status[instance].connected = true;
 	_battery_status[instance].source = msg.status_flags & uavcan::equipment::power::BatteryInfo::STATUS_FLAG_IN_USE;
@@ -239,7 +239,7 @@ UavcanBatteryBridge::filterData(const uavcan::ReceivedDataStructure<uavcan::equi
 
 	/* Override data that is expected to arrive from UAVCAN msg*/
 	_battery_status[instance] = _battery[instance]->getBatteryStatus();
-	_battery_status[instance].temperature = msg.temperature + CONSTANTS_ABSOLUTE_NULL_CELSIUS; // Kelvin to Celsius
+	_battery_status[instance].temperature = msg.temperature + atmosphere::kAbsoluteNullCelsius; // Kelvin to Celsius
 	_battery_status[instance].serial_number = msg.model_instance_id;
 	_battery_status[instance].id = msg.getSrcNodeID().get(); // overwrite zeroed index from _battery
 

src/drivers/uavcan/sensors/differential_pressure.cpp

@@ -38,7 +38,7 @@
 #include "differential_pressure.hpp"
 
 #include <drivers/drv_hrt.h>
-#include <lib/geo/geo.h>
+#include <lib/atmosphere/atmosphere.h>
 #include <parameters/param.h>
 #include <systemlib/err.h>
 
@@ -71,7 +71,7 @@ void UavcanDifferentialPressureBridge::air_sub_cb(const
 	_device_id.devid_s.address = msg.getSrcNodeID().get() & 0xFF;
 
 	float diff_press_pa = msg.differential_pressure;
-	float temperature_c = msg.static_air_temperature + CONSTANTS_ABSOLUTE_NULL_CELSIUS;
+	float temperature_c = msg.static_air_temperature + atmosphere::kAbsoluteNullCelsius;
 
 	differential_pressure_s report{};
 	report.timestamp_sample = timestamp_sample;

src/drivers/uavcan/sensors/hygrometer.cpp

@@ -34,7 +34,7 @@
 #include "hygrometer.hpp"
 
 #include <drivers/drv_hrt.h>
-#include <lib/geo/geo.h>
+#include <lib/atmosphere/atmosphere.h>
 
 const char *const UavcanHygrometerBridge::NAME = "hygrometer_sensor";
 
@@ -65,7 +65,7 @@ void UavcanHygrometerBridge::hygro_sub_cb(const uavcan::ReceivedDataStructure<dr
 	sensor_hygrometer_s report{};
 	report.timestamp_sample = timestamp_sample;
 	report.device_id = 0; // TODO
-	report.temperature = msg.temperature + CONSTANTS_ABSOLUTE_NULL_CELSIUS;
+	report.temperature = msg.temperature + atmosphere::kAbsoluteNullCelsius;
 	report.humidity = msg.humidity;
 	report.timestamp = hrt_absolute_time();