change _update_height_demand for test

2 files changed, 38 insertions, 24 deletions

diff --git a/src/lib/external_lgpl/tecs/tecs.cpp b/src/lib/external_lgpl/tecs/tecs.cpp
index 864a9d24d..af596dc5e 100644
--- a/src/lib/external_lgpl/tecs/tecs.cpp
+++ b/src/lib/external_lgpl/tecs/tecs.cpp
@@ -2,6 +2,7 @@
 
 #include "tecs.h"
 #include <ecl/ecl.h>
+#include <systemlib/err.h>
 
 using namespace math;
 
@@ -199,33 +200,46 @@ void TECS::_update_speed_demand(void)
 	_TAS_dem_last = _TAS_dem;
 }
 
-void TECS::_update_height_demand(float demand)
+void TECS::_update_height_demand(float demand, float state)
 {
-	// Apply 2 point moving average to demanded height
-	// This is required because height demand is only updated at 5Hz
-	_hgt_dem = 0.5f * (demand + _hgt_dem_in_old);
-	_hgt_dem_in_old = _hgt_dem;
-
-	// printf("hgt_dem: %6.2f hgt_dem_last: %6.2f max_climb_rate: %6.2f\n", _hgt_dem, _hgt_dem_prev,
-	// 	_maxClimbRate);
-
+//	// Apply 2 point moving average to demanded height
+//	// This is required because height demand is only updated at 5Hz
+//	_hgt_dem = 0.5f * (demand + _hgt_dem_in_old);
+//	_hgt_dem_in_old = _hgt_dem;
+//
+//	// printf("hgt_dem: %6.2f hgt_dem_last: %6.2f max_climb_rate: %6.2f\n", _hgt_dem, _hgt_dem_prev,
+//	// 	_maxClimbRate);
+//
+//	// Limit height rate of change
+//	if ((_hgt_dem - _hgt_dem_prev) > (_maxClimbRate * 0.1f)) {
+//		_hgt_dem = _hgt_dem_prev + _maxClimbRate * 0.1f;
+//
+//	} else if ((_hgt_dem - _hgt_dem_prev) < (-_maxSinkRate * 0.1f)) {
+//		_hgt_dem = _hgt_dem_prev - _maxSinkRate * 0.1f;
+//	}
+//
+//	_hgt_dem_prev = _hgt_dem;
+//
+//	// Apply first order lag to height demand
+//	_hgt_dem_adj = 0.05f * _hgt_dem + 0.95f * _hgt_dem_adj_last;
+//	_hgt_rate_dem = (_hgt_dem_adj - _hgt_dem_adj_last) / 0.1f;
+//	_hgt_dem_adj_last = _hgt_dem_adj;
+//
+//	// printf("hgt_dem: %6.2f hgt_dem_adj: %6.2f hgt_dem_last: %6.2f hgt_rate_dem: %6.2f\n", _hgt_dem, _hgt_dem_adj, _hgt_dem_adj_last,
+//	// 	_hgt_rate_dem);
+
+	_hgt_dem_adj = 0.05f * demand + 0.95f * _hgt_dem_adj_last;
+
+	_hgt_rate_dem = (demand-state)*0.1f; //xxx: parameter
 	// Limit height rate of change
-	if ((_hgt_dem - _hgt_dem_prev) > (_maxClimbRate * 0.1f)) {
-		_hgt_dem = _hgt_dem_prev + _maxClimbRate * 0.1f;
+	if (_hgt_rate_dem > _maxClimbRate) {
+		_hgt_rate_dem = _maxClimbRate;
 
-	} else if ((_hgt_dem - _hgt_dem_prev) < (-_maxSinkRate * 0.1f)) {
-		_hgt_dem = _hgt_dem_prev - _maxSinkRate * 0.1f;
+	} else if (_hgt_rate_dem < -_maxSinkRate) {
+		_hgt_rate_dem = -_maxSinkRate;
 	}
 
-	_hgt_dem_prev = _hgt_dem;
-
-	// Apply first order lag to height demand
-	_hgt_dem_adj = 0.05f * _hgt_dem + 0.95f * _hgt_dem_adj_last;
-	_hgt_rate_dem = (_hgt_dem_adj - _hgt_dem_adj_last) / 0.1f;
-	_hgt_dem_adj_last = _hgt_dem_adj;
-
-	// printf("hgt_dem: %6.2f hgt_dem_adj: %6.2f hgt_dem_last: %6.2f hgt_rate_dem: %6.2f\n", _hgt_dem, _hgt_dem_adj, _hgt_dem_adj_last,
-	// 	_hgt_rate_dem);
+	warnx("_hgt_rate_dem: %.4f, _hgt_dem_adj %.4f", _hgt_rate_dem, _hgt_dem_adj);
 }
 
 void TECS::_detect_underspeed(void)
@@ -500,7 +514,7 @@ void TECS::update_pitch_throttle(const math::Dcm &rotMat, float pitch, float bar
 	_update_speed_demand();
 
 	// Calculate the height demand
-	_update_height_demand(hgt_dem);
+	_update_height_demand(hgt_dem, baro_altitude);
 
 	// Detect underspeed condition
 	_detect_underspeed();
diff --git a/src/lib/external_lgpl/tecs/tecs.h b/src/lib/external_lgpl/tecs/tecs.h
index 4a98c8e97..224f35366 100644
--- a/src/lib/external_lgpl/tecs/tecs.h
+++ b/src/lib/external_lgpl/tecs/tecs.h
@@ -327,7 +327,7 @@ private:
 	void _update_speed_demand(void);
 
 	// Update the demanded height
-	void _update_height_demand(float demand);
+	void _update_height_demand(float demand, float state);
 
 	// Detect an underspeed condition
 	void _detect_underspeed(void);