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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/simulation/gz_bridge/GZBridge.cpp
+2 -2
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@@ -35,7 +35,7 @@
#include <uORB/Subscription.hpp>
#include <lib/geo/geo.h>
#include <lib/atmosphere/atmosphere.h>
#include <lib/mathlib/mathlib.h>
#include <px4_platform_common/getopt.h>
@@ -388,7 +388,7 @@ void GZBridge::airspeedCallback(const gz::msgs::AirSpeedSensor &air_speed)
report.timestamp_sample = time_us;
report.device_id = 1377548; // 1377548: DRV_DIFF_PRESS_DEVTYPE_SIM, BUS: 1, ADDR: 5, TYPE: SIMULATION
report.differential_pressure_pa = static_cast<float>(air_speed_value); // hPa to Pa;
report.temperature = static_cast<float>(air_speed.temperature()) + CONSTANTS_ABSOLUTE_NULL_CELSIUS; // K to C
report.temperature = static_cast<float>(air_speed.temperature()) + atmosphere::kAbsoluteNullCelsius; // K to C
report.timestamp = hrt_absolute_time();;
_differential_pressure_pub.publish(report);
src/modules/simulation/simulator_sih/sih.hpp
+2 -2
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@@ -61,7 +61,7 @@
#include <matrix/matrix/math.hpp> // matrix, vectors, dcm, quaterions
#include <conversion/rotation.h> // math::radians,
#include <lib/geo/geo.h> // to get the physical constants
#include <lib/atmosphere/atmosphere.h> // to get the physical constants
#include <drivers/drv_hrt.h> // to get the real time
#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
@@ -134,7 +134,7 @@ private:
// hard constants
static constexpr uint16_t NB_MOTORS = 6;
static constexpr float T1_C = 15.0f; // ground temperature in Celsius
static constexpr float T1_K = T1_C - CONSTANTS_ABSOLUTE_NULL_CELSIUS; // ground temperature in Kelvin
static constexpr float T1_K = T1_C - atmosphere::kAbsoluteNullCelsius; // ground temperature in Kelvin
static constexpr float TEMP_GRADIENT = -6.5f / 1000.0f; // temperature gradient in degrees per metre
// Aerodynamic coefficients
static constexpr float RHO = 1.225f; // air density at sea level [kg/m^3]