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TECS: increase airspeed control limit for fast descend

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Konrad
2024-05-07 14:20:07 +02:00
committed by KonradRudin
parent 6a789b54c6
commit f8a20e1964
1 changed files with 5 additions and 3 deletions
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src/lib/tecs/TECS.cpp
+5 -3
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@@ -320,9 +320,11 @@ float TECSControl::_calcAirspeedControlOutput(const Setpoint &setpoint, const In
// if airspeed measurement is not enabled then always set the rate setpoint to zero in order to avoid constant rate setpoints // if airspeed measurement is not enabled then always set the rate setpoint to zero in order to avoid constant rate setpoints
if (flag.airspeed_enabled) { if (flag.airspeed_enabled) {
// Calculate limits for the demanded rate of change of speed based on physical performance limits // Calculate limits for 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. // with a 50% margin to allow the total energy controller to correct for errors. Increase it in case of fast descend
const float max_tas_rate_sp = 0.5f * limit.STE_rate_max / math::max(input.tas, FLT_EPSILON); const float max_tas_rate_sp = (param.fast_descend * 0.5f + 0.5f) * limit.STE_rate_max / math::max(input.tas,
const float min_tas_rate_sp = 0.5f * limit.STE_rate_min / math::max(input.tas, FLT_EPSILON); FLT_EPSILON);
const float min_tas_rate_sp = (param.fast_descend * 0.5f + 0.5f) * limit.STE_rate_min / math::max(input.tas,
FLT_EPSILON);
airspeed_rate_output = constrain((setpoint.tas_setpoint - input.tas) * param.airspeed_error_gain, min_tas_rate_sp, airspeed_rate_output = constrain((setpoint.tas_setpoint - input.tas) * param.airspeed_error_gain, min_tas_rate_sp,
max_tas_rate_sp); max_tas_rate_sp);
} }