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AP_TECS: 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 ed9180154a
commit b1e6c1de41
1 changed files with 3 additions and 3 deletions
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6
libraries/AP_TECS/AP_TECS.cpp
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@ -403,7 +403,7 @@ void AP_TECS::_update_speed(float DT)
// at the maximum speed
const float velRateMin = 0.5f * _STEdot_min / MAX(_TAS_state, aparm.airspeed_min * EAS2TAS);
_TASmax += _DT * velRateMin;
_TASmax = MAX(_TASmax, 0.01f * (float)aparm.airspeed_cruise_cm * EAS2TAS);
_TASmax = MAX(_TASmax, aparm.airspeed_cruise * EAS2TAS);
} else {
// wind airspeed upper limit back to parameter defined value
const float velRateMax = 0.5f * _STEdot_max / MAX(_TAS_state, aparm.airspeed_min * EAS2TAS);
@ -426,7 +426,7 @@ void AP_TECS::_update_speed(float DT)
// airspeed sensor data cannot be used
if (!use_airspeed || !_ahrs.airspeed_estimate(_EAS)) {
// If no airspeed available use average of min and max
_EAS = constrain_float(0.01f * (float)aparm.airspeed_cruise_cm.get(), (float)aparm.airspeed_min.get(), (float)aparm.airspeed_max.get());
_EAS = constrain_float(aparm.airspeed_cruise.get(), (float)aparm.airspeed_min.get(), (float)aparm.airspeed_max.get());
}
// limit the airspeed to a minimum of 3 m/s
@ -471,7 +471,7 @@ void AP_TECS::_update_speed_demand(void)
_TAS_dem = constrain_float(_TAS_dem, _TASmin, _TASmax);
// Determine the true cruising airspeed (m/s)
const float TAScruise = 0.01f * (float)aparm.airspeed_cruise_cm * _ahrs.get_EAS2TAS();
const float TAScruise = aparm.airspeed_cruise * _ahrs.get_EAS2TAS();
// calculate velocity rate limits based on physical performance limits
// provision to use a different rate limit if bad descent or underspeed condition exists