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TECS: use altitude supplied by mainline code

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this allows for use of ALT_OFFSET and ALT_MIX
This commit is contained in:
Paul Riseborough 2013-07-09 09:07:13 +10:00 committed by Andrew Tridgell
parent d8fedf994a
commit 9c431b4a04
2 changed files with 6 additions and 5 deletions
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8
libraries/AP_TECS/AP_TECS.cpp
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@ -128,11 +128,11 @@ const AP_Param::GroupInfo AP_TECS::var_info[] PROGMEM = {
* *
*/ */
void AP_TECS::update_50hz(void) void AP_TECS::update_50hz(float hgt_afe)
{ {
// Implement third order complementary filter for height and height rate // Implement third order complementary filter for height and height rate
// estimted height rate = _integ2_state // estimted height rate = _integ2_state
// estimated height = _integ3_state // estimated height above field elevation = _integ3_state
// Reference Paper : // Reference Paper :
// Optimising the Gains of the Baro-Inertial Vertical Channel // Optimising the Gains of the Baro-Inertial Vertical Channel
// Widnall W.S, Sinha P.K, // Widnall W.S, Sinha P.K,
@ -142,7 +142,7 @@ void AP_TECS::update_50hz(void)
uint32_t now = hal.scheduler->micros(); uint32_t now = hal.scheduler->micros();
float DT = max((now - _update_50hz_last_usec),0)*1.0e-6f; float DT = max((now - _update_50hz_last_usec),0)*1.0e-6f;
if (DT > 1.0) { if (DT > 1.0) {
_integ3_state = _baro->get_altitude(); _integ3_state = hgt_afe;
_integ2_state = 0.0f; _integ2_state = 0.0f;
_integ1_state = 0.0f; _integ1_state = 0.0f;
DT = 0.02f; // when first starting TECS, use a DT = 0.02f; // when first starting TECS, use a
@ -155,7 +155,7 @@ void AP_TECS::update_50hz(void)
// Perform filter calculation using backwards Euler integration // Perform filter calculation using backwards Euler integration
// Coefficients selected to place all three filter poles at omega // Coefficients selected to place all three filter poles at omega
float omega2 = _hgtCompFiltOmega*_hgtCompFiltOmega; float omega2 = _hgtCompFiltOmega*_hgtCompFiltOmega;
float hgt_err = _baro->get_altitude() - _integ3_state; float hgt_err = hgt_afe - _integ3_state;
float integ1_input = hgt_err * omega2 * _hgtCompFiltOmega; float integ1_input = hgt_err * omega2 * _hgtCompFiltOmega;
_integ1_state = _integ1_state + integ1_input * DT; _integ1_state = _integ1_state + integ1_input * DT;
float integ2_input = _integ1_state + hgt_ddot_mea + hgt_err * omega2 * 3.0f; float integ2_input = _integ1_state + hgt_ddot_mea + hgt_err * omega2 * 3.0f;

3
libraries/AP_TECS/AP_TECS.h
View File

@ -41,7 +41,8 @@ public:
// Update of the estimated height and height rate internal state // Update of the estimated height and height rate internal state
// Update of the inertial speed rate internal state // Update of the inertial speed rate internal state
// Should be called at 50Hz or greater // Should be called at 50Hz or greater
void update_50hz(void); // hgt_afe is the height above field elevation (takeoff height)
void update_50hz(float hgt_afe);
// Update the control loop calculations // Update the control loop calculations
void update_pitch_throttle(int32_t hgt_dem_cm, int32_t EAS_dem_cm, bool climbOutDem, int32_t ptchMinCO_cd); void update_pitch_throttle(int32_t hgt_dem_cm, int32_t EAS_dem_cm, bool climbOutDem, int32_t ptchMinCO_cd);