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AP_TECS: added TECS_SYNAIRSPEED parameter 

this allows for the synthetic airspeed estimate to be used in TECS
This commit is contained in:
Andrew Tridgell 2016-10-20 13:22:39 +11:00
parent 7ee42d3a7e
commit 1171b33419
2 changed files with 15 additions and 5 deletions
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14
libraries/AP_TECS/AP_TECS.cpp
View File

@ -234,6 +234,13 @@ const AP_Param::GroupInfo AP_TECS::var_info[] = {
// @User: Advanced // @User: Advanced
AP_GROUPINFO("LAND_PDAMP", 26, AP_TECS, _land_pitch_damp, 0), AP_GROUPINFO("LAND_PDAMP", 26, AP_TECS, _land_pitch_damp, 0),
// @Param: SYNAIRSPEED
// @DisplayName: Enable the use of synthetic airspeed
// @Description: This enable the use of synthetic airspeed for aircraft that don't have a real airspeed sensor. This is useful for development testing where the user is aware of the considerable limitations of the synthetic airspeed system, such as very poor estimates when a wind estimate is not accurate. Do not enable this option unless you fully understand the limitations of a synthetic airspeed estimate.
// @Values: 0:Disable,1:Enable
// @User: Advanced
AP_GROUPINFO("SYNAIRSPEED", 27, AP_TECS, _use_synthetic_airspeed, 0),
AP_GROUPEND AP_GROUPEND
}; };
@ -367,7 +374,8 @@ void AP_TECS::_update_speed(float load_factor)
// Get airspeed or default to halfway between min and max if // Get airspeed or default to halfway between min and max if
// airspeed is not being used and set speed rate to zero // airspeed is not being used and set speed rate to zero
if (!(_use_synthetic_airspeed || _ahrs.airspeed_sensor_enabled()) || !_ahrs.airspeed_estimate(&_EAS)) { bool use_airspeed = _use_synthetic_airspeed_once || _use_synthetic_airspeed.get() || _ahrs.airspeed_sensor_enabled();
if (!use_airspeed || !_ahrs.airspeed_estimate(&_EAS)) {
// If no airspeed available use average of min and max // If no airspeed available use average of min and max
_EAS = 0.5f * (aparm.airspeed_min.get() + (float)aparm.airspeed_max.get()); _EAS = 0.5f * (aparm.airspeed_min.get() + (float)aparm.airspeed_max.get());
} }
@ -1040,9 +1048,9 @@ void AP_TECS::update_pitch_throttle(int32_t hgt_dem_cm,
// Note that caller can demand the use of // Note that caller can demand the use of
// synthetic airspeed for one loop if needed. This is required // synthetic airspeed for one loop if needed. This is required
// during QuadPlane transition when pitch is constrained // during QuadPlane transition when pitch is constrained
if (_ahrs.airspeed_sensor_enabled() || _use_synthetic_airspeed) { if (_ahrs.airspeed_sensor_enabled() || _use_synthetic_airspeed || _use_synthetic_airspeed_once) {
_update_throttle_with_airspeed(); _update_throttle_with_airspeed();
_use_synthetic_airspeed = false; _use_synthetic_airspeed_once = false;
} else { } else {
_update_throttle_without_airspeed(throttle_nudge); _update_throttle_without_airspeed(throttle_nudge);
} }

6
libraries/AP_TECS/AP_TECS.h
View File

@ -106,7 +106,7 @@ public:
// force use of synthetic airspeed for one loop // force use of synthetic airspeed for one loop
void use_synthetic_airspeed(void) { void use_synthetic_airspeed(void) {
_use_synthetic_airspeed = true; _use_synthetic_airspeed_once = true;
} }
// this supports the TECS_* user settable parameters // this supports the TECS_* user settable parameters
@ -311,8 +311,10 @@ private:
float SEB_delta; float SEB_delta;
} logging; } logging;
AP_Int8 _use_synthetic_airspeed;
// use synthetic airspeed for next loop // use synthetic airspeed for next loop
bool _use_synthetic_airspeed; bool _use_synthetic_airspeed_once;
// Update the airspeed internal state using a second order complementary filter // Update the airspeed internal state using a second order complementary filter
void _update_speed(float load_factor); void _update_speed(float load_factor);