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TECS: in airspeed-less mode, set airspeed estimate to cruise airspeed 

In airspeed-less mode, instead of the average of min/max airspeed, take the cruise
airspeed (from param) for current airspeed estimate. A diff of the airspeed setpoint
from this value results in increased enegery demand (incerase of throttle) even
in airspeed-less mode.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2020-12-06 13:29:13 +01:00
parent f9fe0e3746
commit 4b42a1639b
3 changed files with 5 additions and 2 deletions
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4
src/lib/tecs/TECS.cpp
View File

@ -116,9 +116,9 @@ void TECS::_update_speed_states(float equivalent_airspeed_setpoint, float equiva
_TAS_max = _equivalent_airspeed_max * EAS2TAS;
_TAS_min = _equivalent_airspeed_min * EAS2TAS;
// If airspeed measurements are not being used, fix the EAS estimate to halfway between min and max limits
// If airspeed measurements are not being used, fix the airspeed estimate to the nominal cruise airspeed
if (!PX4_ISFINITE(equivalent_airspeed) || !airspeed_sensor_enabled()) {
_EAS = 0.5f * (_equivalent_airspeed_min + _equivalent_airspeed_max);
_EAS = _equivalent_airspeed_cruise;
} else {
_EAS = equivalent_airspeed;

2
src/lib/tecs/TECS.hpp
View File

@ -114,6 +114,7 @@ public:
void set_equivalent_airspeed_max(float airspeed) { _equivalent_airspeed_max = airspeed; }
void set_equivalent_airspeed_min(float airspeed) { _equivalent_airspeed_min = airspeed; }
void set_equivalent_airspeed_cruise(float airspeed) { _equivalent_airspeed_cruise = airspeed; }
void set_pitch_damping(float damping) { _pitch_damping_gain = damping; }
void set_vertical_accel_limit(float limit) { _vert_accel_limit = limit; }
@ -223,6 +224,7 @@ private:
float _airspeed_error_gain{0.1f}; ///< airspeed error inverse time constant [1/s]
float _equivalent_airspeed_min{3.0f}; ///< equivalent airspeed demand lower limit (m/sec)
float _equivalent_airspeed_max{30.0f}; ///< equivalent airspeed demand upper limit (m/sec)
float _equivalent_airspeed_cruise{15.0f}; ///< equivalent cruise airspeed for airspeed less mode (m/sec)
float _throttle_slewrate{0.0f}; ///< throttle demand slew rate limit (1/sec)
float _STE_rate_time_const{0.1f}; ///< filter time constant for specific total energy rate (damping path) (s)
float _speed_derivative_time_const{0.01f}; ///< speed derivative filter time constant (s)

1
src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
View File

@ -109,6 +109,7 @@ FixedwingPositionControl::parameters_update()
_tecs.set_max_climb_rate(_param_fw_t_clmb_max.get());
_tecs.set_max_sink_rate(_param_fw_t_sink_max.get());
_tecs.set_speed_weight(_param_fw_t_spdweight.get());
_tecs.set_equivalent_airspeed_cruise(_param_fw_airspd_trim.get());
_tecs.set_equivalent_airspeed_min(_param_fw_airspd_min.get());
_tecs.set_equivalent_airspeed_max(_param_fw_airspd_max.get());
_tecs.set_min_sink_rate(_param_fw_t_sink_min.get());