mirror of https://github.com/ArduPilot/ardupilot
46 lines
1.1 KiB
C++
46 lines
1.1 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 <DataFlash/DataFlash.h>
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#include <AP_SpdHgtControl/AP_SpdHgtControl.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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AP_AHRS &_ahrs;
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AP_SpdHgtControl &_spdHgt;
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const AP_Vehicle::FixedWing &_aparm;
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// store time of last update
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unsigned long _prev_update_time;
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float _last_alt;
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float _aspd_filt;
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float _last_aspd;
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float _last_roll;
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float _last_total_E;
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public:
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Variometer(AP_AHRS &ahrs, AP_SpdHgtControl &spdHgt, 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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bool new_data;
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void update(const float polar_K, const float polar_CD0, const float polar_B);
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float correct_netto_rate(float climb_rate, float phi, float aspd, const float polar_K, const float polar_CD0, const float polar_B);
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};
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