60cd20c19c
TECS: make more readable
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-04-06 20:12:52 +02:00
2d01cf63ce
TECS: rename _reference_model to _altitude_reference_model
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-04-06 20:12:52 +02:00
beeae1f673
TECS: rename TECSReferenceModel to TECSAltitudeReferenceModel
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-04-06 20:12:52 +02:00
1f5046f165
FWPositionControl: trim throttle prediction improvements ( #21345 )
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* FWPositionController: add linear airspeed-to-trim-throttle mapping
Scale trim throttle in a linear way with airspeed.
Different gradients above/below trim airspeed.
The airspeed- and airs density-corrected trim throttle is required for an accurate
throttle prediction in TECS, while the default trim throttle is still needed
as well, as the throttle delta from height rate setpoint delta is linked to it.
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-04-06 11:56:54 +02:00
28db47480d
TECS: remove ununsed getSteRate()
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-16 16:58:08 +01:00
76116d79f9
TECS: remove umcommanded_descent flag
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-01 10:39:09 +01:00
527225357b
TECS: remove unused TECS_MODE_CLIMBOUT
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-01 10:39:09 +01:00
837095b9a8
tecs: use FW_T_SINK_MIN for STE_rate_min ( #21190 )
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-02-24 15:46:41 +01:00
88ec117e59
TECS: rename tecs_status.altitude_filtered to altitude_sp_ref
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-01-26 17:04:43 +01:00
5099a91f87
TECS: keep _pitch_integ_state in radians
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-01-26 17:04:43 +01:00
e16f98c2b6
FW Position controller: remove unused climbout arguments
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-01-26 17:04:43 +01:00
d3b7112dd9
[TECS]: If in airspeedless mode, add the throttle integrator term to the throttle setpoint, if the integrator term is positive. This should avoid reducing airspeed when switching to airspeedless mode. ( #20987 )
2023-01-25 09:16:11 +01:00
f5524fa605
TECS: Combine both airspeed and airspeed derivative filters in TECS into one MIMO filter using a steady state Kalman filter.
2022-12-21 09:04:19 +01:00
08c36612b3
TECS: Updated throttle control for airspeed sensorless vehicles. It includes the P gain controller instead of feedforward only. I term is still disabled.
2022-12-21 09:04:19 +01:00
77539d4dac
TECS: Rearrange setpoint input. If an altitude rate is given, use this as a feedforward term in the altitude control. If an altitude setpoint is given use a reference model to get a smooth altitude setpoint.
2022-12-21 09:04:19 +01:00
8c6dfc840b
TECS: Fix bug to reset airspeed derivative and energy rate low pass filters at every time step.
2022-12-21 09:04:19 +01:00
7a3e0f53c2
TECS: Replaced old tecs by cleaned up version.
2022-12-21 09:04:19 +01:00
991689d3cd
TECS: Add new tecs library in parallel to old tecs in the position control library for comparison.
2022-12-21 09:04:19 +01:00
c64e111d8e
TECS: Rearranged the TECS library into submodules.
2022-12-21 09:04:19 +01:00
d8e483ae20
TECS: guard against NAN airspeed setpoints
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2022-10-21 09:51:38 +02:00
a12e40b1d8
tecs: convert tas error and soft bounds to percentage of trim airspeed
2022-07-18 10:49:27 -04:00
1782f9cd3e
tecs: zero guard ste rates and airspeed setpoint rates
2022-07-18 10:49:27 -04:00
73010cc69b
TECS: speed (only) -based underspeed detection
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- underspeed condition only determined by true airspeed undershoot
- change binary underspeed condition to a continuous percent undersped
- ramp-in max throttle, pitch speed weight, and TAS setpoint reduction during underspeed to avoid jumpy commands at the true airspeed error boundary
- let true airspeed filter reach zero airspeed
2022-07-18 10:49:27 -04:00
eed073887d
remove in air vs landed knowledge from TECS
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- create integral and trajectory generator reset methods
- always run TECS unless in rotary-wing mode (or in transition)
- constantly reset TECS integrals and trajectory generators when landed
2022-07-18 10:49:27 -04:00
92cdff6798
TECS: rename airspeed/throttle "cruise" to "trim"
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2022-07-12 09:07:20 +02:00
b57d3c6d74
TECS: set true airspeed rate setpoint to zero if airspeed is not enabled
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2022-07-12 09:07:20 +02:00
6dbea21ef5
TECS: renamed airspeed cruse to airspeed trim & general cleanup
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2022-07-12 09:07:20 +02:00
4ba84d56c9
logger: introduce optional topics
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The current practice of adding topics to the default set isn't scalable,
as it affects all setups.
By making sure topics are advertised on init, logger can just discard
topics that don't exist. This does not work for all topics, so topics are
specifically marked as optional. It can be extended to more topics later
on though.
This reduces the list of topics by ~35 on a pixracer configured as quad,
and reduces RAM usage by ~1KB.
2021-11-15 09:02:03 -05:00
56cf77a74c
addressed review comments
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-11-05 18:04:33 +01:00
e36e527488
fixed wrong path
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-11-05 18:04:33 +01:00
d58d13b2e8
APX4-1617: Fix manual climb rate in TECS ( #1463 )
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* tecs: workaround for the fact that vel smoothing lib uses a DOWN coordinate system
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-11-05 18:04:33 +01:00
7cb99f521c
moved ManualVelocitySmoothing to motion_planning lib
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-11-05 18:04:33 +01:00
924298e9c3
addressed review comments
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-11-05 18:04:33 +01:00
0ac3077bdc
tecs: use trajectory generation library to compute height rate setpoint
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- added ability to specify maximum acceleration constraint for height rate setpoint
- added support for locking altitude setpoint when in height rate control
mode and height rate input is zero
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-11-05 18:04:33 +01:00
883624d915
lib/geo: move from ecl
2021-07-15 10:38:24 -04:00
b5430c22c4
AlphaFilter: move from ecl -> mathlib
2021-07-15 10:38:24 -04:00
dbaed99626
cmake remove git_ecl target
2021-07-13 10:03:06 -04:00
ad9288536b
TECS: enable direct height-rate control
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-06-04 14:51:27 +02:00
a5cc449e69
tecs: propagate altitude setpoint based on target climb/sink rate
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- avoids tecs always climbing and sinking and max rates and allows to fine tune these rates
- avoid numerical calculation of feedforward velocity using derivative, this
was prone to jitter in dt
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-06-04 14:51:27 +02:00
b06b46b224
log raw airspeed derivative, pitch setpoint and airspeed innovation for TECS
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-05-31 23:56:23 +02:00
4b42a1639b
TECS: in airspeed-less mode, set airspeed estimate to cruise airspeed
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In airspeed-less mode, instead of the average of min/max airspeed, take the cruise
airspeed (from param) for current airspeed estimate. A diff of the airspeed setpoint
from this value results in increased enegery demand (incerase of throttle) even
in airspeed-less mode.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-05-28 14:25:53 +02:00
b66ae5f2d4
tecs: use raw inertial acceleration for true airspeed complementary filter
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-03-31 20:12:40 -04:00
82a2126f97
TECS: add feedforward gain for total energy balance rate
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-03-15 11:47:07 -04:00
b4b424bf7d
tecs: also fix the bug in update_vehicle_state_estimates()
2021-03-05 19:44:20 +01:00
0f461f7f60
TECS: Fix internal state init if dt is large
2021-03-05 19:44:20 +01:00
cb7aabf932
fw_pos_control_l1: cleanup body velocity and acceleration usage
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- minimize storing unnecessary state (msg copies)
2021-02-12 00:41:39 +01:00
92f2043d8b
TECS: add EAS_sp to tecs_status.msg and rename other airspeeds to TAS
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-23 09:34:34 -05:00
5e32e9be5a
TECS: rename variables and methods to make clear which are EAS and which TAS
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-23 09:34:34 -05:00
f05599caff
tecs: use speed derivative provided by local position
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-13 21:21:07 +03:00
e546584555
tecs: moved trivial getter methods to header file
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-01-13 21:21:07 +03:00
Silvan Fuhrer