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Added PerformanceModel for fixed wing (#22091)

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* 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>
This commit is contained in:
Roman Bapst
2023-11-21 17:13:50 +01:00
committed by GitHub
co-authored by Thomas Stastny
parent 70cd224236
commit dd2322d622
40 changed files with 800 additions and 474 deletions
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src/lib/airspeed/airspeed.cpp
+7 -7
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@@ -43,10 +43,10 @@
#include "airspeed.h"
#include <px4_platform_common/defines.h>
#include <lib/geo/geo.h>
#include <lib/atmosphere/atmosphere.h>
using atmosphere::getDensityFromPressureAndTemp;
using atmosphere::kAirDensitySeaLevelStandardAtmos;
float calc_IAS_corrected(enum AIRSPEED_COMPENSATION_MODEL pmodel, enum AIRSPEED_SENSOR_MODEL smodel,
float tube_len, float tube_dia_mm, float differential_pressure, float pressure_ambient, float temperature_celsius)
@@ -157,7 +157,7 @@ float calc_IAS_corrected(enum AIRSPEED_COMPENSATION_MODEL pmodel, enum AIRSPEED_
}
// computed airspeed without correction for inflow-speed at tip of pitot-tube
const float airspeed_uncorrected = sqrtf(2.0f * dp_tot / CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C);
const float airspeed_uncorrected = sqrtf(2.0f * dp_tot / kAirDensitySeaLevelStandardAtmos);
// corrected airspeed
const float airspeed_corrected = airspeed_uncorrected + dv;
@@ -169,10 +169,10 @@ float calc_IAS_corrected(enum AIRSPEED_COMPENSATION_MODEL pmodel, enum AIRSPEED_
float calc_IAS(float differential_pressure)
{
if (differential_pressure > 0.0f) {
return sqrtf((2.0f * differential_pressure) / CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C);
return sqrtf((2.0f * differential_pressure) / kAirDensitySeaLevelStandardAtmos);
} else {
return -sqrtf((2.0f * fabsf(differential_pressure)) / CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C);
return -sqrtf((2.0f * fabsf(differential_pressure)) / kAirDensitySeaLevelStandardAtmos);
}
}
@@ -183,7 +183,7 @@ float calc_TAS_from_CAS(float speed_calibrated, float pressure_ambient, float te
temperature_celsius = 15.f; // ICAO Standard Atmosphere 15 degrees Celsius
}
return speed_calibrated * sqrtf(CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C / getDensityFromPressureAndTemp(pressure_ambient,
return speed_calibrated * sqrtf(kAirDensitySeaLevelStandardAtmos / getDensityFromPressureAndTemp(pressure_ambient,
temperature_celsius));
}
@@ -197,7 +197,7 @@ float calc_TAS(float total_pressure, float static_pressure, float temperature_ce
float density = getDensityFromPressureAndTemp(static_pressure, temperature_celsius);
if (density < 0.0001f || !PX4_ISFINITE(density)) {
density = CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C;
density = kAirDensitySeaLevelStandardAtmos;
}
float pressure_difference = total_pressure - static_pressure;
@@ -212,5 +212,5 @@ float calc_TAS(float total_pressure, float static_pressure, float temperature_ce
float calc_calibrated_from_true_airspeed(float speed_true, float air_density)
{
return speed_true * sqrtf(air_density / CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C);
return speed_true * sqrtf(air_density / kAirDensitySeaLevelStandardAtmos);
}