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author | Thomas Gubler <thomasgubler@gmail.com> | 2013-11-24 12:48:44 +0100 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2013-11-24 12:48:44 +0100 |
commit | 3c6f01bea8a65e2c347d1b893b3fe0d152bff69c (patch) | |
tree | 8b1f9b2e33a5732586f8e45834386eec6ff28017 /src/lib/external_lgpl/tecs/tecs.cpp | |
parent | 85a76a32c5be43e8f1a4d82041e1b860dc21e217 (diff) | |
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tecs: speedrate: use p loop instead of pre calculated speed rate for now
Diffstat (limited to 'src/lib/external_lgpl/tecs/tecs.cpp')
-rw-r--r-- | src/lib/external_lgpl/tecs/tecs.cpp | 60 |
1 files changed, 35 insertions, 25 deletions
diff --git a/src/lib/external_lgpl/tecs/tecs.cpp b/src/lib/external_lgpl/tecs/tecs.cpp index a2ac6507e..d089be080 100644 --- a/src/lib/external_lgpl/tecs/tecs.cpp +++ b/src/lib/external_lgpl/tecs/tecs.cpp @@ -169,35 +169,45 @@ void TECS::_update_speed_demand(void) // calculate velocity rate limits based on physical performance limits // provision to use a different rate limit if bad descent or underspeed condition exists // Use 50% of maximum energy rate to allow margin for total energy contgroller - float velRateMax; - float velRateMin; - - if ((_badDescent) || (_underspeed)) { - velRateMax = 0.5f * _STEdot_max / _integ5_state; - velRateMin = 0.5f * _STEdot_min / _integ5_state; - - } else { - velRateMax = 0.5f * _STEdot_max / _integ5_state; - velRateMin = 0.5f * _STEdot_min / _integ5_state; - } - - // Apply rate limit - if ((_TAS_dem - _TAS_dem_adj) > (velRateMax * 0.1f)) { - _TAS_dem_adj = _TAS_dem_adj + velRateMax * 0.1f; - _TAS_rate_dem = velRateMax; - - } else if ((_TAS_dem - _TAS_dem_adj) < (velRateMin * 0.1f)) { - _TAS_dem_adj = _TAS_dem_adj + velRateMin * 0.1f; - _TAS_rate_dem = velRateMin; +// float velRateMax; +// float velRateMin; +// +// if ((_badDescent) || (_underspeed)) { +// velRateMax = 0.5f * _STEdot_max / _integ5_state; +// velRateMin = 0.5f * _STEdot_min / _integ5_state; +// +// } else { +// velRateMax = 0.5f * _STEdot_max / _integ5_state; +// velRateMin = 0.5f * _STEdot_min / _integ5_state; +// } +// +// // Apply rate limit +// if ((_TAS_dem - _TAS_dem_adj) > (velRateMax * 0.1f)) { +// _TAS_dem_adj = _TAS_dem_adj + velRateMax * 0.1f; +// _TAS_rate_dem = velRateMax; +// +// } else if ((_TAS_dem - _TAS_dem_adj) < (velRateMin * 0.1f)) { +// _TAS_dem_adj = _TAS_dem_adj + velRateMin * 0.1f; +// _TAS_rate_dem = velRateMin; +// +// } else { +// _TAS_dem_adj = _TAS_dem; +// +// +// _TAS_rate_dem = (_TAS_dem - _TAS_dem_last) / 0.1f; +// } - } else { - _TAS_dem_adj = _TAS_dem; - _TAS_rate_dem = (_TAS_dem - _TAS_dem_last) / 0.1f; - } + _TAS_dem_adj = _TAS_dem; + _TAS_rate_dem = (_TAS_dem_adj-_integ5_state)*_speedrate_p; //xxx: using a p loop for now // Constrain speed demand again to protect against bad values on initialisation. _TAS_dem_adj = constrain(_TAS_dem_adj, _TASmin, _TASmax); - _TAS_dem_last = _TAS_dem; +// _TAS_dem_last = _TAS_dem; + +// warnx("_TAS_rate_dem: %.1f, _TAS_dem_adj %.1f, _integ5_state %.1f, _badDescent %u , _underspeed %u, velRateMin %.1f", +// (double)_TAS_rate_dem, (double)_TAS_dem_adj, (double)_integ5_state, _badDescent, _underspeed, velRateMin); +// warnx("_TAS_rate_dem: %.1f, _TAS_dem_adj %.1f, _integ5_state %.1f, _badDescent %u , _underspeed %u", +// (double)_TAS_rate_dem, (double)_TAS_dem_adj, (double)_integ5_state, _badDescent , _underspeed); } void TECS::_update_height_demand(float demand, float state) |