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TECS: rename _reference_model to _altitude_reference_model 

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2023-04-04 10:53:17 +02:00
parent beeae1f673
commit 2d01cf63ce
2 changed files with 12 additions and 12 deletions
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16
src/lib/tecs/TECS.cpp
View File

@ -639,12 +639,12 @@ void TECS::initialize(const float altitude, const float altitude_rate, const flo
// Init subclasses
TECSAltitudeReferenceModel::AltitudeReferenceState current_state{ .alt = altitude,
.alt_rate = altitude_rate};
_reference_model.initialize(current_state);
_altitude_reference_model.initialize(current_state);
_airspeed_filter.initialize(equivalent_airspeed);
TECSControl::Setpoint control_setpoint;
control_setpoint.altitude_reference = _reference_model.getAltitudeReference();
control_setpoint.altitude_rate_setpoint = _reference_model.getAltitudeRateReference();
control_setpoint.altitude_reference = _altitude_reference_model.getAltitudeReference();
control_setpoint.altitude_rate_setpoint = _altitude_reference_model.getAltitudeRateReference();
control_setpoint.tas_setpoint = equivalent_airspeed * eas_to_tas;
const TECSControl::Input control_input{ .altitude = altitude,
@ -659,10 +659,10 @@ void TECS::initialize(const float altitude, const float altitude_rate, const flo
const TECSAirspeedFilter::AirspeedFilterState eas = _airspeed_filter.getState();
_debug_status.true_airspeed_filtered = eas_to_tas * eas.speed;
_debug_status.true_airspeed_derivative = eas_to_tas * eas.speed_rate;
const TECSAltitudeReferenceModel::AltitudeReferenceState ref_alt{_reference_model.getAltitudeReference()};
const TECSAltitudeReferenceModel::AltitudeReferenceState ref_alt{_altitude_reference_model.getAltitudeReference()};
_debug_status.altitude_sp_ref = ref_alt.alt;
_debug_status.altitude_rate_alt_ref = ref_alt.alt_rate;
_debug_status.altitude_rate_feedforward = _reference_model.getAltitudeRateReference();
_debug_status.altitude_rate_feedforward = _altitude_reference_model.getAltitudeRateReference();
_update_timestamp = hrt_absolute_time();
}
@ -711,11 +711,11 @@ void TECS::update(float pitch, float altitude, float hgt_setpoint, float EAS_set
const TECSAltitudeReferenceModel::AltitudeReferenceState setpoint{ .alt = hgt_setpoint,
.alt_rate = hgt_rate_sp};
_reference_model.update(dt, setpoint, altitude, _reference_param);
_altitude_reference_model.update(dt, setpoint, altitude, _reference_param);
TECSControl::Setpoint control_setpoint;
control_setpoint.altitude_reference = _reference_model.getAltitudeReference();
control_setpoint.altitude_rate_setpoint = _reference_model.getAltitudeRateReference();
control_setpoint.altitude_reference = _altitude_reference_model.getAltitudeReference();
control_setpoint.altitude_rate_setpoint = _altitude_reference_model.getAltitudeRateReference();
// Calculate the demanded true airspeed
// TODO this function should not be in the module. Only give feedback that the airspeed can't be achieved.

8
src/lib/tecs/TECS.hpp
View File

@ -642,7 +642,7 @@ public:
.alt_rate = altitude_rate};
// reset altitude reference model.
_reference_model.initialize(init_state);
_altitude_reference_model.initialize(init_state);
}
float get_pitch_setpoint() {return _control.getPitchSetpoint();}
@ -652,9 +652,9 @@ public:
ECL_TECS_MODE tecs_mode() { return _tecs_mode; }
private:
TECSControl _control; ///< Control submodule.
TECSAirspeedFilter _airspeed_filter; ///< Airspeed filter submodule.
TECSAltitudeReferenceModel _reference_model; ///< Setpoint reference model submodule.
TECSControl _control; ///< Control submodule.
TECSAirspeedFilter _airspeed_filter; ///< Airspeed filter submodule.
TECSAltitudeReferenceModel _altitude_reference_model; ///< Setpoint reference model submodule.
enum ECL_TECS_MODE _tecs_mode {ECL_TECS_MODE_NORMAL}; ///< Current activated mode.