mirror of https://github.com/ArduPilot/ardupilot
61 lines
1.5 KiB
C++
61 lines
1.5 KiB
C++
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/* Variometer class by Samuel Tabor
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Manages the estimation of aircraft total energy, drag and vertical air velocity.
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*/
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#pragma once
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#include <AP_AHRS/AP_AHRS.h>
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#include <AP_Param/AP_Param.h>
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#include <AP_SpdHgtControl/AP_SpdHgtControl.h>
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#include <Filter/AverageFilter.h>
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#define ASPD_FILT 0.05
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#define TE_FILT 0.03
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#define TE_FILT_DISPLAYED 0.15
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class Variometer {
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const AP_Vehicle::FixedWing &_aparm;
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// store time of last update
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uint64_t _prev_update_time;
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float _aspd_filt;
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float _aspd_filt_constrained;
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float _expected_thermalling_sink;
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// declares a 5point average filter using floats
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AverageFilterFloat_Size5 _vdot_filter;
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AverageFilterFloat_Size5 _sp_filter;
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// low pass filter @ 30s time constant
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LowPassFilter<float> _climb_filter;
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LowPassFilter<float> _vdot_filter2;
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public:
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Variometer(const AP_Vehicle::FixedWing &parms);
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float alt;
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float reading;
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float filtered_reading;
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float displayed_reading;
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float raw_climb_rate;
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float smoothed_climb_rate;
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float tau;
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void update(const float polar_K, const float polar_CD0, const float polar_B);
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float calculate_aircraft_sinkrate(float phi, const float polar_K, const float polar_CD0, const float polar_B);
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void reset_filter(float value) { _climb_filter.reset(value);}
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float get_airspeed(void) {return _aspd_filt;};
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float get_exp_thermalling_sink(void) {return _expected_thermalling_sink;};
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float calculate_circling_time_constant();
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};
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