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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/fw_rate_control/fw_rate_control_params.c
-60
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@@ -40,37 +40,6 @@
* @author Thomas Gubler <thomas@px4.io>
*/
/**
* Minimum Airspeed (CAS)
*
* The minimal airspeed (calibrated airspeed) the user is able to command.
* Further, if the airspeed falls below this value, the TECS controller will try to
* increase airspeed more aggressively.
* Should be set (with some margin) above the vehicle stall speed.
* This value corresponds to the desired minimum speed with the default load factor (level flight, default weight),
* and is automatically adapated to the current load factor (calculated from roll setpoint and WEIGHT_GROSS/WEIGHT_BASE).
*
* @unit m/s
* @min 0.5
* @decimal 1
* @increment 0.5
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_AIRSPD_MIN, 10.0f);
/**
* Maximum Airspeed (CAS)
*
* The maximal airspeed (calibrated airspeed) the user is able to command.
*
* @unit m/s
* @min 0.5
* @decimal 1
* @increment 0.5
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_AIRSPD_MAX, 20.0f);
/**
* Airspeed mode
*
@@ -83,35 +52,6 @@ PARAM_DEFINE_FLOAT(FW_AIRSPD_MAX, 20.0f);
*/
PARAM_DEFINE_INT32(FW_ARSP_MODE, 0);
/**
* Trim (Cruise) Airspeed
*
* The trim CAS (calibrated airspeed) of the vehicle. If an airspeed controller is active,
* this is the default airspeed setpoint that the controller will try to achieve.
*
* @unit m/s
* @min 0.5
* @decimal 1
* @increment 0.5
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_AIRSPD_TRIM, 15.0f);
/**
* Stall Airspeed (CAS)
*
* The stall airspeed (calibrated airspeed) of the vehicle.
* It is used for airspeed sensor failure detection and for the control
* surface scaling airspeed limits.
*
* @unit m/s
* @min 0.5
* @decimal 1
* @increment 0.5
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_AIRSPD_STALL, 7.0f);
/**
* Pitch rate proportional gain.
*