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AP_TECS: make demanded airspeed during landing stages clearer

This commit is contained in:
Andrew Tridgell 2016-02-09 13:58:05 +11:00
parent 2e92089ce6
commit 13c217c060
1 changed files with 15 additions and 13 deletions
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28
libraries/AP_TECS/AP_TECS.cpp
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@ -299,7 +299,6 @@ void AP_TECS::_update_speed(float load_factor)
// Convert equivalent airspeeds to true airspeeds
float EAS2TAS = _ahrs.get_EAS2TAS();
_TAS_dem = _EAS_dem * EAS2TAS;
_TASmax = aparm.airspeed_max * EAS2TAS;
_TASmin = aparm.airspeed_min * EAS2TAS;
@ -309,21 +308,24 @@ void AP_TECS::_update_speed(float load_factor)
_TASmin *= load_factor;
}
float demanded_airspeed = _EAS_dem;
if (_ahrs.airspeed_sensor_enabled()) {
if ((_flight_stage == FLIGHT_LAND_APPROACH || _flight_stage == FLIGHT_LAND_FINAL) && _landAirspeed >= 0) {
demanded_airspeed = _landAirspeed;
} else if (_flight_stage == FLIGHT_LAND_PREFLARE) {
if (aparm.land_pre_flare_airspeed > 0) {
demanded_airspeed = aparm.land_pre_flare_airspeed;
} else if (_landAirspeed >= 0) {
demanded_airspeed = _landAirspeed;
}
}
}
_TAS_dem = demanded_airspeed * EAS2TAS;
if (_TASmax < _TASmin) {
_TASmax = _TASmin;
}
if (_ahrs.airspeed_sensor_enabled()) {
if ((_flight_stage == FLIGHT_LAND_APPROACH || _flight_stage == FLIGHT_LAND_FINAL) && _landAirspeed >= 0) {
_TAS_dem = _landAirspeed * EAS2TAS;
if (_TASmin > _TAS_dem) {
_TASmin = _TAS_dem;
}
} else if (_flight_stage == FLIGHT_LAND_PREFLARE && aparm.land_pre_flare_airspeed > 0) {
_TAS_dem = aparm.land_pre_flare_airspeed * EAS2TAS;
if (_TASmin > _TAS_dem) {
_TASmin = _TAS_dem;
}
}
if (_TASmin > _TAS_dem) {
_TASmin = _TAS_dem;
}
// Reset states of time since last update is too large