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ArduPlane: change TRIM_ARSPD_CM to AIRSPEED_CRUISE

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This commit is contained in:
Andrew Tridgell 2024-01-18 13:34:22 +11:00
parent 42be3d11ad
commit 94edcc4654
9 changed files with 25 additions and 24 deletions
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2
ArduPlane/AP_Arming.cpp
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@ -454,7 +454,7 @@ bool AP_Arming_Plane::mission_checks(bool report)
prev_cmd.id == MAV_CMD_NAV_WAYPOINT) { prev_cmd.id == MAV_CMD_NAV_WAYPOINT) {
const float dist = cmd.content.location.get_distance(prev_cmd.content.location); const float dist = cmd.content.location.get_distance(prev_cmd.content.location);
const float tecs_land_speed = plane.TECS_controller.get_land_airspeed(); const float tecs_land_speed = plane.TECS_controller.get_land_airspeed();
const float landing_speed = is_positive(tecs_land_speed)?tecs_land_speed:plane.aparm.airspeed_cruise_cm*0.01; const float landing_speed = is_positive(tecs_land_speed)?tecs_land_speed:plane.aparm.airspeed_cruise;
const float min_dist = 0.75 * plane.quadplane.stopping_distance(sq(landing_speed)); const float min_dist = 0.75 * plane.quadplane.stopping_distance(sq(landing_speed));
if (dist < min_dist) { if (dist < min_dist) {
ret = false; ret = false;

15
ArduPlane/Parameters.cpp
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@ -401,7 +401,7 @@ const AP_Param::Info Plane::var_info[] = {
// @Param: TRIM_THROTTLE // @Param: TRIM_THROTTLE
// @DisplayName: Throttle cruise percentage // @DisplayName: Throttle cruise percentage
// @Description: Target percentage of throttle to apply for flight in automatic throttle modes and throttle percentage that maintains TRIM_ARSPD_CM. Caution: low battery voltages at the end of flights may require higher throttle to maintain airspeed. // @Description: Target percentage of throttle to apply for flight in automatic throttle modes and throttle percentage that maintains AIRSPEED_CRUISE. Caution: low battery voltages at the end of flights may require higher throttle to maintain airspeed.
// @Units: % // @Units: %
// @Range: 0 100 // @Range: 0 100
// @Increment: 1 // @Increment: 1
@ -410,7 +410,7 @@ const AP_Param::Info Plane::var_info[] = {
// @Param: THROTTLE_NUDGE // @Param: THROTTLE_NUDGE
// @DisplayName: Throttle nudge enable // @DisplayName: Throttle nudge enable
// @Description: When enabled, this uses the throttle input in auto-throttle modes to 'nudge' the throttle or airspeed to higher or lower values. When you have an airspeed sensor the nudge affects the target airspeed, so that throttle inputs above 50% will increase the target airspeed from TRIM_ARSPD_CM up to a maximum of ARSPD_FBW_MAX. When no airspeed sensor is enabled the throttle nudge will push up the target throttle for throttle inputs above 50%. // @Description: When enabled, this uses the throttle input in auto-throttle modes to 'nudge' the throttle or airspeed to higher or lower values. When you have an airspeed sensor the nudge affects the target airspeed, so that throttle inputs above 50% will increase the target airspeed from AIRSPEED_CRUISE up to a maximum of ARSPD_FBW_MAX. When no airspeed sensor is enabled the throttle nudge will push up the target throttle for throttle inputs above 50%.
// @Values: 0:Disabled,1:Enabled // @Values: 0:Disabled,1:Enabled
// @User: Standard // @User: Standard
GSCALAR(throttle_nudge, "THROTTLE_NUDGE", 1), GSCALAR(throttle_nudge, "THROTTLE_NUDGE", 1),
@ -621,12 +621,12 @@ const AP_Param::Info Plane::var_info[] = {
// @User: Advanced // @User: Advanced
GSCALAR(log_bitmask, "LOG_BITMASK", DEFAULT_LOG_BITMASK), GSCALAR(log_bitmask, "LOG_BITMASK", DEFAULT_LOG_BITMASK),
// @Param: TRIM_ARSPD_CM // @Param: AIRSPEED_CRUISE
// @DisplayName: Target airspeed // @DisplayName: Target cruise airspeed
// @Description: Target airspeed in cm/s in automatic throttle modes. Value is as an indicated (calibrated/apparent) airspeed. // @Description: Target cruise airspeed in m/s in automatic throttle modes. Value is as an indicated (calibrated/apparent) airspeed.
// @Units: cm/s // @Units: m/s
// @User: Standard // @User: Standard
ASCALAR(airspeed_cruise_cm, "TRIM_ARSPD_CM", AIRSPEED_CRUISE_CM), ASCALAR(airspeed_cruise, "AIRSPEED_CRUISE", AIRSPEED_CRUISE),
// @Param: SCALING_SPEED // @Param: SCALING_SPEED
// @DisplayName: speed used for speed scaling calculations // @DisplayName: speed used for speed scaling calculations
@ -1548,6 +1548,7 @@ void Plane::load_parameters(void)
// PARAMETER_CONVERSION - Added: Dec 2023 // PARAMETER_CONVERSION - Added: Dec 2023
// Convert _CM (centimeter) parameters to meters and _CD (centidegrees) parameters to meters // Convert _CM (centimeter) parameters to meters and _CD (centidegrees) parameters to meters
g.pitch_trim.convert_centi_parameter(AP_PARAM_INT16); g.pitch_trim.convert_centi_parameter(AP_PARAM_INT16);
aparm.airspeed_cruise.convert_centi_parameter(AP_PARAM_INT32);
hal.console->printf("load_all took %uus\n", (unsigned)(micros() - before)); hal.console->printf("load_all took %uus\n", (unsigned)(micros() - before));
} }

2
ArduPlane/Parameters.h
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@ -216,7 +216,7 @@ public:
k_param_roll_limit_cd, k_param_roll_limit_cd,
k_param_pitch_limit_max_cd, k_param_pitch_limit_max_cd,
k_param_pitch_limit_min_cd, k_param_pitch_limit_min_cd,
k_param_airspeed_cruise_cm, k_param_airspeed_cruise,
k_param_RTL_altitude_cm, k_param_RTL_altitude_cm,
k_param_inverted_flight_ch_unused, // unused k_param_inverted_flight_ch_unused, // unused
k_param_min_gndspeed_cm, k_param_min_gndspeed_cm,

2
ArduPlane/config.h
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@ -114,7 +114,7 @@
#ifndef AIRSPEED_CRUISE #ifndef AIRSPEED_CRUISE
# define AIRSPEED_CRUISE 12 // 12 m/s # define AIRSPEED_CRUISE 12 // 12 m/s
#endif #endif
#define AIRSPEED_CRUISE_CM AIRSPEED_CRUISE*100
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////

2
ArduPlane/mode_qrtl.cpp
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@ -201,7 +201,7 @@ void ModeQRTL::update_target_altitude()
const float radius = MAX(fabsf(float(plane.aparm.loiter_radius)), fabsf(float(plane.g.rtl_radius))); const float radius = MAX(fabsf(float(plane.aparm.loiter_radius)), fabsf(float(plane.g.rtl_radius)));
const float rtl_alt_delta = MAX(0, plane.g.RTL_altitude_cm*0.01 - plane.quadplane.qrtl_alt); const float rtl_alt_delta = MAX(0, plane.g.RTL_altitude_cm*0.01 - plane.quadplane.qrtl_alt);
const float sink_time = rtl_alt_delta / MAX(0.6*plane.TECS_controller.get_max_sinkrate(), 1); const float sink_time = rtl_alt_delta / MAX(0.6*plane.TECS_controller.get_max_sinkrate(), 1);
const float sink_dist = plane.aparm.airspeed_cruise_cm * 0.01 * sink_time; const float sink_dist = plane.aparm.airspeed_cruise * sink_time;
const float dist = plane.auto_state.wp_distance; const float dist = plane.auto_state.wp_distance;
const float rad_min = 2*radius; const float rad_min = 2*radius;
const float rad_max = 20*radius; const float rad_max = 20*radius;

16
ArduPlane/navigation.cpp
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@ -123,7 +123,7 @@ float Plane::mode_auto_target_airspeed_cm()
return land_airspeed * 100; return land_airspeed * 100;
} }
// fallover to normal airspeed // fallover to normal airspeed
return aparm.airspeed_cruise_cm; return aparm.airspeed_cruise*100;
} }
if (quadplane.in_vtol_land_approach()) { if (quadplane.in_vtol_land_approach()) {
return quadplane.get_land_airspeed() * 100; return quadplane.get_land_airspeed() * 100;
@ -137,7 +137,7 @@ float Plane::mode_auto_target_airspeed_cm()
} }
// fallover to normal airspeed // fallover to normal airspeed
return aparm.airspeed_cruise_cm; return aparm.airspeed_cruise*100;
} }
void Plane::calc_airspeed_errors() void Plane::calc_airspeed_errors()
@ -160,7 +160,7 @@ void Plane::calc_airspeed_errors()
// FBW_B/cruise airspeed target // FBW_B/cruise airspeed target
if (!failsafe.rc_failsafe && (control_mode == &mode_fbwb || control_mode == &mode_cruise)) { if (!failsafe.rc_failsafe && (control_mode == &mode_fbwb || control_mode == &mode_cruise)) {
if (flight_option_enabled(FlightOptions::CRUISE_TRIM_AIRSPEED)) { if (flight_option_enabled(FlightOptions::CRUISE_TRIM_AIRSPEED)) {
target_airspeed_cm = aparm.airspeed_cruise_cm; target_airspeed_cm = aparm.airspeed_cruise*100;
} else if (flight_option_enabled(FlightOptions::CRUISE_TRIM_THROTTLE)) { } else if (flight_option_enabled(FlightOptions::CRUISE_TRIM_THROTTLE)) {
float control_min = 0.0f; float control_min = 0.0f;
float control_mid = 0.0f; float control_mid = 0.0f;
@ -175,11 +175,11 @@ void Plane::calc_airspeed_errors()
break; break;
} }
if (control_in <= control_mid) { if (control_in <= control_mid) {
target_airspeed_cm = linear_interpolate(aparm.airspeed_min * 100, aparm.airspeed_cruise_cm, target_airspeed_cm = linear_interpolate(aparm.airspeed_min * 100, aparm.airspeed_cruise*100,
control_in, control_in,
control_min, control_mid); control_min, control_mid);
} else { } else {
target_airspeed_cm = linear_interpolate(aparm.airspeed_cruise_cm, aparm.airspeed_max * 100, target_airspeed_cm = linear_interpolate(aparm.airspeed_cruise*100, aparm.airspeed_max * 100,
control_in, control_in,
control_mid, control_max); control_mid, control_max);
} }
@ -213,7 +213,7 @@ void Plane::calc_airspeed_errors()
if (arspd > 0) { if (arspd > 0) {
target_airspeed_cm = arspd * 100; target_airspeed_cm = arspd * 100;
} else { } else {
target_airspeed_cm = aparm.airspeed_cruise_cm; target_airspeed_cm = aparm.airspeed_cruise*100;
} }
} else if (control_mode == &mode_auto) { } else if (control_mode == &mode_auto) {
float arspd = g2.soaring_controller.get_cruising_target_airspeed(); float arspd = g2.soaring_controller.get_cruising_target_airspeed();
@ -221,7 +221,7 @@ void Plane::calc_airspeed_errors()
if (arspd > 0) { if (arspd > 0) {
target_airspeed_cm = arspd * 100; target_airspeed_cm = arspd * 100;
} else { } else {
target_airspeed_cm = aparm.airspeed_cruise_cm; target_airspeed_cm = aparm.airspeed_cruise*100;
} }
} }
#endif #endif
@ -239,7 +239,7 @@ void Plane::calc_airspeed_errors()
#endif #endif
} else { } else {
// Normal airspeed target for all other cases // Normal airspeed target for all other cases
target_airspeed_cm = aparm.airspeed_cruise_cm; target_airspeed_cm = aparm.airspeed_cruise*100;
} }
// Set target to current airspeed + ground speed undershoot, // Set target to current airspeed + ground speed undershoot,

6
ArduPlane/quadplane.cpp
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@ -4048,7 +4048,7 @@ float QuadPlane::stopping_distance(void)
float QuadPlane::transition_threshold(void) float QuadPlane::transition_threshold(void)
{ {
// 1.5 times stopping distance for cruise speed // 1.5 times stopping distance for cruise speed
return 1.5 * stopping_distance(sq(plane.aparm.airspeed_cruise_cm*0.01)); return 1.5 * stopping_distance(sq(plane.aparm.airspeed_cruise));
} }
#define LAND_CHECK_ANGLE_ERROR_DEG 30.0f // maximum angle error to be considered landing #define LAND_CHECK_ANGLE_ERROR_DEG 30.0f // maximum angle error to be considered landing
@ -4270,7 +4270,7 @@ Vector2f QuadPlane::landing_desired_closing_velocity()
// don't let the target speed go above landing approach speed // don't let the target speed go above landing approach speed
const float eas2tas = plane.ahrs.get_EAS2TAS(); const float eas2tas = plane.ahrs.get_EAS2TAS();
float land_speed = plane.aparm.airspeed_cruise_cm * 0.01; float land_speed = plane.aparm.airspeed_cruise;
float tecs_land_airspeed = plane.TECS_controller.get_land_airspeed(); float tecs_land_airspeed = plane.TECS_controller.get_land_airspeed();
if (is_positive(tecs_land_airspeed)) { if (is_positive(tecs_land_airspeed)) {
land_speed = tecs_land_airspeed; land_speed = tecs_land_airspeed;
@ -4294,7 +4294,7 @@ float QuadPlane::get_land_airspeed(void)
const auto qstate = poscontrol.get_state(); const auto qstate = poscontrol.get_state();
if (qstate == QPOS_APPROACH || if (qstate == QPOS_APPROACH ||
plane.control_mode == &plane.mode_rtl) { plane.control_mode == &plane.mode_rtl) {
const float cruise_speed = plane.aparm.airspeed_cruise_cm * 0.01; const float cruise_speed = plane.aparm.airspeed_cruise;
float approach_speed = cruise_speed; float approach_speed = cruise_speed;
float tecs_land_airspeed = plane.TECS_controller.get_land_airspeed(); float tecs_land_airspeed = plane.TECS_controller.get_land_airspeed();
if (is_positive(tecs_land_airspeed)) { if (is_positive(tecs_land_airspeed)) {

2
ArduPlane/radio.cpp
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@ -197,7 +197,7 @@ void Plane::read_radio()
&& stickmixing) { && stickmixing) {
float nudge = (channel_throttle->get_control_in() - 50) * 0.02f; float nudge = (channel_throttle->get_control_in() - 50) * 0.02f;
if (ahrs.using_airspeed_sensor()) { if (ahrs.using_airspeed_sensor()) {
airspeed_nudge_cm = (aparm.airspeed_max * 100 - aparm.airspeed_cruise_cm) * nudge; airspeed_nudge_cm = (aparm.airspeed_max - aparm.airspeed_cruise) * nudge * 100;
} else { } else {
throttle_nudge = (aparm.throttle_max - aparm.throttle_cruise) * nudge; throttle_nudge = (aparm.throttle_max - aparm.throttle_cruise) * nudge;
} }

2
ArduPlane/takeoff.cpp
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@ -194,7 +194,7 @@ void Plane::takeoff_calc_pitch(void)
} else { } else {
if (g.takeoff_rotate_speed > 0) { if (g.takeoff_rotate_speed > 0) {
// Rise off ground takeoff so delay rotation until ground speed indicates adequate airspeed // Rise off ground takeoff so delay rotation until ground speed indicates adequate airspeed
nav_pitch_cd = ((gps.ground_speed()*100) / (float)aparm.airspeed_cruise_cm) * auto_state.takeoff_pitch_cd; nav_pitch_cd = (gps.ground_speed() / (float)aparm.airspeed_cruise) * auto_state.takeoff_pitch_cd;
nav_pitch_cd = constrain_int32(nav_pitch_cd, 500, auto_state.takeoff_pitch_cd); nav_pitch_cd = constrain_int32(nav_pitch_cd, 500, auto_state.takeoff_pitch_cd);
} else { } else {
// Doing hand or catapult launch so need at least 5 deg pitch to prevent initial height loss // Doing hand or catapult launch so need at least 5 deg pitch to prevent initial height loss