ardupilot/libraries/AP_Soaring/Variometer.h

72 lines
2.0 KiB
C++

/* Variometer class by Samuel Tabor
Manages the estimation of aircraft total energy, drag and vertical air velocity.
*/
#pragma once
#include <AP_AHRS/AP_AHRS.h>
#include <AP_Param/AP_Param.h>
#include <Filter/AverageFilter.h>
#include <AP_Vehicle/AP_Vehicle.h>
class Variometer {
const AP_Vehicle::FixedWing &_aparm;
// store time of last update
uint64_t _prev_update_time;
float _raw_climb_rate;
float _aspd_filt_constrained;
float _expected_thermalling_sink;
// declares a 5point average filter using floats
AverageFilterFloat_Size5 _vdot_filter;
AverageFilterFloat_Size5 _sp_filter;
/*
low pass filters for various purposes.
*/
// Climb rate filter for monitoring progress in thermal.
LowPassFilter<float> _climb_filter{1/60.0};
// Fast filter for mavlink/audio vario output.
LowPassFilter<float> _audio_filter{1/0.71};
// Slower filter for deciding to enter THERMAL mode.
LowPassFilter<float> _trigger_filter{1/4.06};
// Longitudinal acceleration bias filter.
LowPassFilter<float> _vdotbias_filter{1/60.0};
public:
Variometer(const AP_Vehicle::FixedWing &parms);
float alt;
float reading;
float tau;
void update(const float thermal_bank, const float polar_K, const float polar_CD0, const float polar_B);
float calculate_aircraft_sinkrate(float phi, const float polar_K, const float polar_CD0, const float polar_B) const;
void reset_climb_filter(float value) { _climb_filter.reset(value);}
void reset_trigger_filter(float value) { _trigger_filter.reset(value);}
float get_airspeed(void) const {return _aspd_filt_constrained;};
float get_displayed_value(void) const {return _audio_filter.get();};
float get_filtered_climb(void) const {return _climb_filter.get();};
float get_trigger_value(void) const {return _trigger_filter.get();};
float get_exp_thermalling_sink(void) const {return _expected_thermalling_sink;};
float calculate_circling_time_constant(const float thermal_bank);
};