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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/modules/ekf2/test/test_EKF_drag_fusion.cpp
+4 -3
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@@ -39,6 +39,7 @@
#include "EKF/ekf.h"
#include "sensor_simulator/sensor_simulator.h"
#include "sensor_simulator/ekf_wrapper.h"
#include <lib/atmosphere/atmosphere.h>
class EkfDragFusionTest : public ::testing::Test
{
@@ -179,7 +180,7 @@ TEST_F(EkfDragFusionTest, testForwardBluffBodyDrag)
Vector2f predicted_accel(CONSTANTS_ONE_G * sinf(pitch), 0.0f);
const float airspeed = sqrtf((2.0f * bcoef_x * predicted_accel.length()) /
CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C);
atmosphere::kAirDensitySeaLevelStandardAtmos);
Vector2f wind_speed(-airspeed, 0.0f);
// The magnitude of error perpendicular to wind is equivalent to the error in the direction of wind
@@ -219,7 +220,7 @@ TEST_F(EkfDragFusionTest, testLateralBluffBodyDrag)
Vector2f predicted_accel(0.0f, - CONSTANTS_ONE_G * sinf(roll));
const float airspeed = sqrtf((2.0f * bcoef_y * predicted_accel.length()) /
CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C);
atmosphere::kAirDensitySeaLevelStandardAtmos);
Vector2f wind_speed(0.0f, -airspeed);
// The magnitude of error perpendicular to wind is equivalent to the error in the of wind
@@ -259,7 +260,7 @@ TEST_F(EkfDragFusionTest, testDiagonalBluffBodyDrag)
Vector2f predicted_accel = quat_sim.rotateVectorInverse(Vector3f(0.f, 0.f, -CONSTANTS_ONE_G)).xy();
const float airspeed = sqrtf((2.0f * bcoef_y * predicted_accel.norm()) /
CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C);
atmosphere::kAirDensitySeaLevelStandardAtmos);
Vector2f wind_speed(airspeed * predicted_accel / predicted_accel.norm());
// The magnitude of error perpendicular to wind is equivalent to the error in the of wind