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tecs: fixed some typos

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CarlOlsson 2017-12-07 15:49:45 +01:00 committed by Daniel Agar
parent 83b765f707
commit dea0c8bb6a
1 changed files with 12 additions and 12 deletions
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24
tecs/tecs.cpp
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@ -48,7 +48,7 @@ using math::min;
/*
* This function implements a complementary filter to estimate the climb rate when
* inertial nav data is not available. It also calculates a true airpseed derivative
* inertial nav data is not available. It also calculates a true airspeed derivative
* which is used by the airspeed complimentary filter.
*/
void TECS::update_vehicle_state_estimates(float airspeed, const math::Matrix<3, 3> &rotMat,
@ -90,7 +90,7 @@ void TECS::update_vehicle_state_estimates(float airspeed, const math::Matrix<3,
_in_air = in_air;
// Genrate the height and climb rate state estimates
// Generate the height and climb rate state estimates
if (vz_valid) {
// Set the velocity and position state to the the INS data
_vert_vel_state = -vz;
@ -211,7 +211,7 @@ void TECS::_update_speed_setpoint()
_TAS_setpoint = constrain(_TAS_setpoint, _TAS_min, _TAS_max);
// Apply limits on the demanded rate of change of speed based based on physical performance limits
// Apply limits on the demanded rate of change of speed based on physical performance limits
// with a 50% margin to allow the total energy controller to correct for errors.
float velRateMax;
float velRateMin;
@ -265,7 +265,7 @@ void TECS::_update_height_setpoint(float desired, float state)
_hgt_setpoint_adj = 0.1f * _hgt_setpoint + 0.9f * _hgt_setpoint_adj_prev;
// Calculate the demanded climb rate proportional to height error plus a feedforward term to provide
// tight tracking during steady climb and descent manouvres.
// tight tracking during steady climb and descent manoeuvres.
_hgt_rate_setpoint = (_hgt_setpoint_adj - state) * _height_error_gain + _height_setpoint_gain_ff *
(_hgt_setpoint_adj - _hgt_setpoint_adj_prev) / _dt;
_hgt_setpoint_adj_prev = _hgt_setpoint_adj;
@ -311,7 +311,7 @@ void TECS::_update_energy_estimates()
_SKE_estimate = 0.5f * _tas_state * _tas_state; // kinetic energy
// Calculate specific energy rates in units of (m**2/sec**3)
_SPE_rate = _vert_vel_state * CONSTANTS_ONE_G; // potential ernegy rate of change
_SPE_rate = _vert_vel_state * CONSTANTS_ONE_G; // potential energy rate of change
_SKE_rate = _tas_state * _speed_derivative;// kinetic energy rate of change
}
@ -341,9 +341,9 @@ void TECS::_update_throttle_setpoint(const float throttle_cruise, const math::Ma
// Calculate a predicted throttle from the demanded rate of change of energy, using the cruise throttle
// as the starting point. Assume:
// Specific total energy rate = _STE_rate_max is acheived when throttle is set to to _throttle_setpoint_max
// Specific total energy rate = _STE_rate_max is achieved when throttle is set to _throttle_setpoint_max
// Specific total energy rate = 0 at cruise throttle
// Specific total energy rate = _STE_rate_min is acheived when throttle is set to to _throttle_setpoint_min
// Specific total energy rate = _STE_rate_min is achieved when throttle is set to _throttle_setpoint_min
float throttle_predicted = 0.0f;
if (STE_rate_setpoint >= 0) {
@ -373,7 +373,7 @@ void TECS::_update_throttle_setpoint(const float throttle_cruise, const math::Ma
_last_throttle_setpoint = _throttle_setpoint;
// Calculate throttle integrator state upper and lower limits with allowance for
// 10% throttle saturation to accoodate noise on the demand
// 10% throttle saturation to accommodate noise on the demand
float integ_state_max = (_throttle_setpoint_max - _throttle_setpoint + 0.1f);
float integ_state_min = (_throttle_setpoint_min - _throttle_setpoint - 0.1f);
@ -383,7 +383,7 @@ void TECS::_update_throttle_setpoint(const float throttle_cruise, const math::Ma
if (_climbout_mode_active) {
// During climbout, set the integrator to maximum throttle to prevent transient throttle drop
// at end of climbout when we traniton to closed loop throttle control
// at end of climbout when we transition to closed loop throttle control
_throttle_integ_state = integ_state_max;
} else {
@ -421,7 +421,7 @@ void TECS::_detect_uncommanded_descent()
bool enter_mode = !_uncommanded_descent_recovery && !_underspeed_detected && (_STE_error > 200.0f) && (STE_rate < 0.0f)
&& (_throttle_setpoint >= _throttle_setpoint_max * 0.9f);
// If we enter an underspeed cindition or recover the required total energy, then exit uncommanded descent recovery mode
// If we enter an underspeed condition or recover the required total energy, then exit uncommanded descent recovery mode
bool exit_mode = _uncommanded_descent_recovery && (_underspeed_detected || (_STE_error < 0.0f));
if (enter_mode) {
@ -477,7 +477,7 @@ void TECS::_update_pitch_setpoint()
float pitch_integ_input = _SEB_error * _integrator_gain;
// Prevent the integrator changing in a direction that will increase pitch demand saturation
// Decay the integrator at the control loop time constant if the pitch demand fromthe previous time step is saturated
// Decay the integrator at the control loop time constant if the pitch demand from the previous time step is saturated
if (_pitch_setpoint_unc > _pitch_setpoint_max) {
pitch_integ_input = min(pitch_integ_input,
min((_pitch_setpoint_max - _pitch_setpoint_unc) * climb_angle_to_SEB_rate / _pitch_time_constant, 0.0f));
@ -603,7 +603,7 @@ void TECS::update_pitch_throttle(const math::Matrix<3, 3> &rotMat, float pitch,
// Initialize selected states and variables as required
_initialize_states(pitch, throttle_cruise, baro_altitude, pitch_min_climbout, eas_to_tas);
// Don't run TECS control agorithms when not in flight
// Don't run TECS control algorithms when not in flight
if (!_in_air) {
return;
}