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NPFG: specify in comments that airspeed reference is for true airspeed 

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2023-12-06 09:42:34 +01:00
parent 589f0f1fc7
commit 123c06f2e6
1 changed files with 19 additions and 19 deletions
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38
src/lib/npfg/npfg.hpp
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@ -85,7 +85,7 @@ public:
float canRun(const vehicle_local_position_s &local_pos, bool is_wind_valid) const; float canRun(const vehicle_local_position_s &local_pos, bool is_wind_valid) const;
/* /*
* Computes the lateral acceleration and airspeed references necessary to track * Computes the lateral acceleration and true airspeed references necessary to track
* a path in wind (including excess wind conditions). * a path in wind (including excess wind conditions).
* *
* @param[in] curr_pos_local Current horizontal vehicle position in local coordinates [m] * @param[in] curr_pos_local Current horizontal vehicle position in local coordinates [m]
@ -150,12 +150,12 @@ public:
void setMaxTrackKeepingMinGroundSpeed(float min_gsp) { min_gsp_track_keeping_max_ = math::max(min_gsp, 0.0f); } void setMaxTrackKeepingMinGroundSpeed(float min_gsp) { min_gsp_track_keeping_max_ = math::max(min_gsp, 0.0f); }
/* /*
* Set the nominal airspeed reference [m/s]. * Set the nominal airspeed reference (true airspeed) [m/s].
*/ */
void setAirspeedNom(float airsp) { airspeed_nom_ = math::max(airsp, 0.1f); } void setAirspeedNom(float airsp) { airspeed_nom_ = math::max(airsp, 0.1f); }
/* /*
* Set the maximum airspeed reference [m/s]. * Set the maximum airspeed reference (true airspeed) [m/s].
*/ */
void setAirspeedMax(float airsp) { airspeed_max_ = math::max(airsp, 0.1f); } void setAirspeedMax(float airsp) { airspeed_max_ = math::max(airsp, 0.1f); }
@ -306,8 +306,8 @@ private:
// ^disabling this parameter disables all other excess wind handling options, using only the nominal airspeed for reference // ^disabling this parameter disables all other excess wind handling options, using only the nominal airspeed for reference
// guidance settings // guidance settings
float airspeed_nom_{15.0f}; // nominal (desired) airspeed reference (generally equivalent to cruise optimized airspeed) [m/s] float airspeed_nom_{15.0f}; // nominal (desired) true airspeed reference (generally equivalent to cruise optimized airspeed) [m/s]
float airspeed_max_{20.0f}; // maximum airspeed reference - the maximum achievable/allowed airspeed reference [m/s] float airspeed_max_{20.0f}; // maximum true airspeed reference - the maximum achievable/allowed airspeed reference [m/s]
float roll_time_const_{0.0f}; // autopilot roll response time constant [s] float roll_time_const_{0.0f}; // autopilot roll response time constant [s]
float min_gsp_desired_{0.0f}; // user defined miminum desired forward ground speed [m/s] float min_gsp_desired_{0.0f}; // user defined miminum desired forward ground speed [m/s]
float min_gsp_track_keeping_max_{5.0f}; // maximum, minimum forward ground speed demand from track keeping logic [m/s] float min_gsp_track_keeping_max_{5.0f}; // maximum, minimum forward ground speed demand from track keeping logic [m/s]
@ -341,8 +341,8 @@ private:
* guidance outputs * guidance outputs
*/ */
float airspeed_ref_{15.0f}; // airspeed reference [m/s] float airspeed_ref_{15.0f}; // true airspeed reference [m/s]
matrix::Vector2f air_vel_ref_{matrix::Vector2f{15.0f, 0.0f}}; // air velocity reference vector [m/s] matrix::Vector2f air_vel_ref_{matrix::Vector2f{15.0f, 0.0f}}; // true air velocity reference vector [m/s]
float lateral_accel_{0.0f}; // lateral acceleration reference [m/s^2] float lateral_accel_{0.0f}; // lateral acceleration reference [m/s^2]
float lateral_accel_ff_{0.0f}; // lateral acceleration demand to maintain path curvature [m/s^2] float lateral_accel_ff_{0.0f}; // lateral acceleration demand to maintain path curvature [m/s^2]
@ -358,7 +358,7 @@ private:
* condition, path properties, and stability bounds. * condition, path properties, and stability bounds.
* *
* @param[in] ground_speed Vehicle ground speed [m/s] * @param[in] ground_speed Vehicle ground speed [m/s]
* @param[in] airspeed Vehicle airspeed [m/s] * @param[in] airspeed Vehicle true airspeed [m/s]
* @param[in] wind_speed Wind speed [m/s] * @param[in] wind_speed Wind speed [m/s]
* @param[in] track_error Track error (magnitude) [m] * @param[in] track_error Track error (magnitude) [m]
* @param[in] path_curvature Path curvature at closest point on track [m^-1] * @param[in] path_curvature Path curvature at closest point on track [m^-1]
@ -384,7 +384,7 @@ private:
/* /*
* Cacluates an approximation of the wind factor (see [TODO: include citation]). * Cacluates an approximation of the wind factor (see [TODO: include citation]).
* *
* @param[in] airspeed Vehicle airspeed [m/s] * @param[in] airspeed Vehicle true airspeed [m/s]
* @param[in] wind_speed Wind speed [m/s] * @param[in] wind_speed Wind speed [m/s]
* @return Non-dimensional wind factor approximation * @return Non-dimensional wind factor approximation
*/ */
@ -395,7 +395,7 @@ private:
* track keeping stability. * track keeping stability.
* *
* @param[in] air_turn_rate The turn rate required to track the current path * @param[in] air_turn_rate The turn rate required to track the current path
* curvature at the current airspeed, in a no-wind condition [rad/s] * curvature at the current true airspeed, in a no-wind condition [rad/s]
* @param[in] wind_factor Non-dimensional wind factor (see [TODO: include citation]) * @param[in] wind_factor Non-dimensional wind factor (see [TODO: include citation])
* @return Period upper bound [s] * @return Period upper bound [s]
*/ */
@ -408,7 +408,7 @@ private:
* and a safety factor should be applied in addition to the returned value. * and a safety factor should be applied in addition to the returned value.
* *
* @param[in] air_turn_rate The turn rate required to track the current path * @param[in] air_turn_rate The turn rate required to track the current path
* curvature at the current airspeed, in a no-wind condition [rad/s] * curvature at the current true airspeed, in a no-wind condition [rad/s]
* @param[in] wind_factor Non-dimensional wind factor (see [TODO: include citation]) * @param[in] wind_factor Non-dimensional wind factor (see [TODO: include citation])
* @return Period lower bound [s] * @return Period lower bound [s]
*/ */
@ -493,8 +493,8 @@ private:
/* /*
* Determines a reference air velocity *without curvature compensation, but * Determines a reference air velocity *without curvature compensation, but
* including "optimal" airspeed reference compensation in excess wind conditions. * including "optimal" true airspeed reference compensation in excess wind conditions.
* Nominal and maximum airspeed member variables must be set before using this method. * Nominal and maximum true airspeed member variables must be set before using this method.
* *
* @param[in] wind_vel Wind velocity vector [m/s] * @param[in] wind_vel Wind velocity vector [m/s]
* @param[in] bearing_vec Bearing vector * @param[in] bearing_vec Bearing vector
@ -512,7 +512,7 @@ private:
* Projection of the air velocity vector onto the bearing line considering * Projection of the air velocity vector onto the bearing line considering
* a connected wind triangle. * a connected wind triangle.
* *
* @param[in] airspeed Vehicle airspeed [m/s] * @param[in] airspeed Vehicle true airspeed [m/s]
* @param[in] wind_cross_bearing 2D cross product of wind velocity and bearing vector [m/s] * @param[in] wind_cross_bearing 2D cross product of wind velocity and bearing vector [m/s]
* @return Projection of air velocity vector on bearing vector [m/s] * @return Projection of air velocity vector on bearing vector [m/s]
*/ */
@ -523,7 +523,7 @@ private:
* *
* @param[in] wind_cross_bearing 2D cross product of wind velocity and bearing vector [m/s] * @param[in] wind_cross_bearing 2D cross product of wind velocity and bearing vector [m/s]
* @param[in] wind_dot_bearing 2D dot product of wind velocity and bearing vector [m/s] * @param[in] wind_dot_bearing 2D dot product of wind velocity and bearing vector [m/s]
* @param[in] airspeed Vehicle airspeed [m/s] * @param[in] airspeed Vehicle true airspeed [m/s]
* @param[in] wind_speed Wind speed [m/s] * @param[in] wind_speed Wind speed [m/s]
* @return Binary bearing feasibility: 1 if feasible, 0 if infeasible * @return Binary bearing feasibility: 1 if feasible, 0 if infeasible
*/ */
@ -549,7 +549,7 @@ private:
* @param[in] wind_vel Wind velocity vector [m/s] * @param[in] wind_vel Wind velocity vector [m/s]
* @param[in] bearing_vec Bearing vector * @param[in] bearing_vec Bearing vector
* @param[in] wind_speed Wind speed [m/s] * @param[in] wind_speed Wind speed [m/s]
* @param[in] airspeed Vehicle airspeed [m/s] * @param[in] airspeed Vehicle true airspeed [m/s]
* @return Air velocity vector [m/s] * @return Air velocity vector [m/s]
*/ */
matrix::Vector2f infeasibleAirVelRef(const matrix::Vector2f &wind_vel, const matrix::Vector2f &bearing_vec, matrix::Vector2f infeasibleAirVelRef(const matrix::Vector2f &wind_vel, const matrix::Vector2f &bearing_vec,
@ -562,7 +562,7 @@ private:
* *
* @param[in] wind_cross_bearing 2D cross product of wind velocity and bearing vector [m/s] * @param[in] wind_cross_bearing 2D cross product of wind velocity and bearing vector [m/s]
* @param[in] wind_dot_bearing 2D dot product of wind velocity and bearing vector [m/s] * @param[in] wind_dot_bearing 2D dot product of wind velocity and bearing vector [m/s]
* @param[in] airspeed Vehicle airspeed [m/s] * @param[in] airspeed Vehicle true airspeed [m/s]
* @param[in] wind_speed Wind speed [m/s] * @param[in] wind_speed Wind speed [m/s]
* @return bearing feasibility * @return bearing feasibility
*/ */
@ -577,7 +577,7 @@ private:
* in direction of path * in direction of path
* @param[in] ground_vel Vehicle ground velocity vector [m/s] * @param[in] ground_vel Vehicle ground velocity vector [m/s]
* @param[in] wind_vel Wind velocity vector [m/s] * @param[in] wind_vel Wind velocity vector [m/s]
* @param[in] airspeed Vehicle airspeed [m/s] * @param[in] airspeed Vehicle true airspeed [m/s]
* @param[in] wind_speed Wind speed [m/s] * @param[in] wind_speed Wind speed [m/s]
* @param[in] signed_track_error Signed error to track at closest point (sign * @param[in] signed_track_error Signed error to track at closest point (sign
* determined by path normal direction) [m] * determined by path normal direction) [m]
@ -594,7 +594,7 @@ private:
* *
* @param[in] air_vel Vechile air velocity vector [m/s] * @param[in] air_vel Vechile air velocity vector [m/s]
* @param[in] air_vel_ref Reference air velocity vector [m/s] * @param[in] air_vel_ref Reference air velocity vector [m/s]
* @param[in] airspeed Vehicle airspeed [m/s] * @param[in] airspeed Vehicle true airspeed [m/s]
* @return Lateral acceleration demand [m/s^2] * @return Lateral acceleration demand [m/s^2]
*/ */
float lateralAccel(const matrix::Vector2f &air_vel, const matrix::Vector2f &air_vel_ref, float lateralAccel(const matrix::Vector2f &air_vel, const matrix::Vector2f &air_vel_ref,