From dea0c8bb6a6f27743a56b284ddb290a94334d2bb Mon Sep 17 00:00:00 2001 From: CarlOlsson Date: Thu, 7 Dec 2017 15:49:45 +0100 Subject: [PATCH] tecs: fixed some typos --- tecs/tecs.cpp | 24 ++++++++++++------------ 1 file changed, 12 insertions(+), 12 deletions(-) diff --git a/tecs/tecs.cpp b/tecs/tecs.cpp index eb0f57c7a9..24e65a0c27 100644 --- a/tecs/tecs.cpp +++ b/tecs/tecs.cpp @@ -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; }