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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 // Init subclasses
TECSAltitudeReferenceModel::AltitudeReferenceState current_state{ .alt = altitude, TECSAltitudeReferenceModel::AltitudeReferenceState current_state{ .alt = altitude,
.alt_rate = altitude_rate}; .alt_rate = altitude_rate};
_reference_model.initialize(current_state); _altitude_reference_model.initialize(current_state);
_airspeed_filter.initialize(equivalent_airspeed); _airspeed_filter.initialize(equivalent_airspeed);
TECSControl::Setpoint control_setpoint; TECSControl::Setpoint control_setpoint;
control_setpoint.altitude_reference = _reference_model.getAltitudeReference(); control_setpoint.altitude_reference = _altitude_reference_model.getAltitudeReference();
control_setpoint.altitude_rate_setpoint = _reference_model.getAltitudeRateReference(); control_setpoint.altitude_rate_setpoint = _altitude_reference_model.getAltitudeRateReference();
control_setpoint.tas_setpoint = equivalent_airspeed * eas_to_tas; control_setpoint.tas_setpoint = equivalent_airspeed * eas_to_tas;
const TECSControl::Input control_input{ .altitude = altitude, 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(); const TECSAirspeedFilter::AirspeedFilterState eas = _airspeed_filter.getState();
_debug_status.true_airspeed_filtered = eas_to_tas * eas.speed; _debug_status.true_airspeed_filtered = eas_to_tas * eas.speed;
_debug_status.true_airspeed_derivative = eas_to_tas * eas.speed_rate; _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_sp_ref = ref_alt.alt;
_debug_status.altitude_rate_alt_ref = ref_alt.alt_rate; _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(); _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, const TECSAltitudeReferenceModel::AltitudeReferenceState setpoint{ .alt = hgt_setpoint,
.alt_rate = hgt_rate_sp}; .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; TECSControl::Setpoint control_setpoint;
control_setpoint.altitude_reference = _reference_model.getAltitudeReference(); control_setpoint.altitude_reference = _altitude_reference_model.getAltitudeReference();
control_setpoint.altitude_rate_setpoint = _reference_model.getAltitudeRateReference(); control_setpoint.altitude_rate_setpoint = _altitude_reference_model.getAltitudeRateReference();
// Calculate the demanded true airspeed // Calculate the demanded true airspeed
// TODO this function should not be in the module. Only give feedback that the airspeed can't be achieved. // TODO this function should not be in the module. Only give feedback that the airspeed can't be achieved.

4
src/lib/tecs/TECS.hpp
View File

@ -642,7 +642,7 @@ public:
.alt_rate = altitude_rate}; .alt_rate = altitude_rate};
// reset altitude reference model. // reset altitude reference model.
_reference_model.initialize(init_state); _altitude_reference_model.initialize(init_state);
} }
float get_pitch_setpoint() {return _control.getPitchSetpoint();} float get_pitch_setpoint() {return _control.getPitchSetpoint();}
@ -654,7 +654,7 @@ public:
private: private:
TECSControl _control; ///< Control submodule. TECSControl _control; ///< Control submodule.
TECSAirspeedFilter _airspeed_filter; ///< Airspeed filter submodule. TECSAirspeedFilter _airspeed_filter; ///< Airspeed filter submodule.
TECSAltitudeReferenceModel _reference_model; ///< Setpoint reference model submodule. TECSAltitudeReferenceModel _altitude_reference_model; ///< Setpoint reference model submodule.
enum ECL_TECS_MODE _tecs_mode {ECL_TECS_MODE_NORMAL}; ///< Current activated mode. enum ECL_TECS_MODE _tecs_mode {ECL_TECS_MODE_NORMAL}; ///< Current activated mode.