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/lib/tecs/TECS.cpp

@@ -592,11 +592,11 @@ float TECSControl::_calcThrottleControlOutput(const STERateLimit &limit, const C
 
 	if (ste_rate.setpoint >= FLT_EPSILON) {
 		// throttle is between trim and maximum
-		throttle_predicted = param.throttle_trim_adjusted + ste_rate.setpoint * throttle_above_trim_per_ste_rate;
+		throttle_predicted = param.throttle_trim + ste_rate.setpoint * throttle_above_trim_per_ste_rate;
 
 	} else {
 		// throttle is between trim and minimum
-		throttle_predicted = param.throttle_trim_adjusted - ste_rate.setpoint * throttle_below_trim_per_ste_rate;
+		throttle_predicted = param.throttle_trim - ste_rate.setpoint * throttle_below_trim_per_ste_rate;
 
 	}
 
@@ -661,7 +661,7 @@ void TECS::initialize(const float altitude, const float altitude_rate, const flo
 
 void TECS::update(float pitch, float altitude, float hgt_setpoint, float EAS_setpoint, float equivalent_airspeed,
 		  float eas_to_tas, float throttle_min, float throttle_setpoint_max,
-		  float throttle_trim, float throttle_trim_adjusted, float pitch_limit_min, float pitch_limit_max, float target_climbrate,
+		  float throttle_trim, float pitch_limit_min, float pitch_limit_max, float target_climbrate,
 		  float target_sinkrate, const float speed_deriv_forward, float hgt_rate, float hgt_rate_sp)
 {
 
@@ -678,7 +678,6 @@ void TECS::update(float pitch, float altitude, float hgt_setpoint, float EAS_set
 	_control_param.pitch_max = pitch_limit_max;
 	_control_param.pitch_min = pitch_limit_min;
 	_control_param.throttle_trim = throttle_trim;
-	_control_param.throttle_trim_adjusted = throttle_trim_adjusted;
 	_control_param.throttle_max = throttle_setpoint_max;
 	_control_param.throttle_min = throttle_min;
 

src/lib/tecs/TECS.hpp

@@ -198,11 +198,10 @@ public:
 		float max_climb_rate;			///< Climb rate produced by max allowed throttle [m/s].
 		float vert_accel_limit;			///< Magnitude of the maximum vertical acceleration allowed [m/s²].
 		float equivalent_airspeed_trim;		///< Equivalent cruise airspeed for airspeed less mode [m/s].
-		float tas_min;				///< True airpeed demand lower limit [m/s].
+		float tas_min;				///< True airspeed demand lower limit [m/s].
 		float pitch_max;			///< Maximum pitch angle allowed in [rad].
 		float pitch_min;			///< Minimal pitch angle allowed in [rad].
-		float throttle_trim;			///< Normalized throttle required to fly level at trim airspeed and sea level
-		float throttle_trim_adjusted;		///< Trim throttle adjusted for airspeed, load factor and air density
+		float throttle_trim;		///< Normalized throttle required to fly level at calibrated airspeed setpoint [0,1]
 		float throttle_max;			///< Normalized throttle upper limit.
 		float throttle_min;			///< Normalized throttle lower limit.
 
@@ -577,7 +576,7 @@ public:
 	 */
 	void update(float pitch, float altitude, float hgt_setpoint, float EAS_setpoint, float equivalent_airspeed,
 		    float eas_to_tas, float throttle_min, float throttle_setpoint_max,
-		    float throttle_trim, float throttle_trim_adjusted, float pitch_limit_min, float pitch_limit_max, float target_climbrate,
+		    float throttle_trim, float pitch_limit_min, float pitch_limit_max, float target_climbrate,
 		    float target_sinkrate, float speed_deriv_forward, float hgt_rate, float hgt_rate_sp = NAN);
 
 	/**
@@ -690,7 +689,6 @@ private:
 		.pitch_max = 5.0f,
 		.pitch_min = -5.0f,
 		.throttle_trim = 0.0f,
-		.throttle_trim_adjusted = 0.f,
 		.throttle_max = 1.0f,
 		.throttle_min = 0.1f,
 		.altitude_error_gain = 0.2f,