#include <tecs.h>

Collaboration diagram for TECS:

Public Types
enum	ECL_TECS_MODE { ECL_TECS_MODE_NORMAL = 0, ECL_TECS_MODE_UNDERSPEED, ECL_TECS_MODE_BAD_DESCENT, ECL_TECS_MODE_CLIMBOUT }

Public Member Functions
	TECS ()=default

	~TECS ()=default

	TECS (const TECS &)=delete

TECS &	operator= (const TECS &)=delete

	TECS (TECS &&)=delete

TECS &	operator= (TECS &&)=delete

bool	airspeed_sensor_enabled ()
	Get the current airspeed status. More...

void	enable_airspeed (bool enabled)
	Set the airspeed enable state. More...

void	update_vehicle_state_estimates (float airspeed, const matrix::Dcmf &rotMat, const matrix::Vector3f &accel_body, bool altitude_lock, bool in_air, float altitude, bool vz_valid, float vz, float az)
	Updates the following vehicle kineamtic state estimates: Vertical position, velocity and acceleration. More...

void	update_pitch_throttle (const matrix::Dcmf &rotMat, float pitch, float baro_altitude, float hgt_setpoint, float EAS_setpoint, float indicated_airspeed, float eas_to_tas, bool climb_out_setpoint, float pitch_min_climbout, float throttle_min, float throttle_setpoint_max, float throttle_cruise, float pitch_limit_min, float pitch_limit_max)
	Update the control loop calculations. More...

float	get_throttle_setpoint (void)

float	get_pitch_setpoint ()

float	get_speed_weight ()

void	reset_state ()

void	set_detect_underspeed_enabled (bool enabled)

void	set_time_const (float time_const)

void	set_integrator_gain (float gain)

void	set_min_sink_rate (float rate)

void	set_max_sink_rate (float sink_rate)

void	set_max_climb_rate (float climb_rate)

void	set_height_comp_filter_omega (float omega)

void	set_heightrate_ff (float heightrate_ff)

void	set_heightrate_p (float heightrate_p)

void	set_indicated_airspeed_max (float airspeed)

void	set_indicated_airspeed_min (float airspeed)

void	set_pitch_damping (float damping)

void	set_vertical_accel_limit (float limit)

void	set_speed_comp_filter_omega (float omega)

void	set_speed_weight (float weight)

void	set_speedrate_p (float speedrate_p)

void	set_time_const_throt (float time_const_throt)

void	set_throttle_damp (float throttle_damp)

void	set_throttle_slewrate (float slewrate)

void	set_roll_throttle_compensation (float compensation)

uint64_t	timestamp ()

ECL_TECS_MODE	tecs_mode ()

float	hgt_setpoint_adj ()

float	vert_pos_state ()

float	TAS_setpoint_adj ()

float	tas_state ()

float	hgt_rate_setpoint ()

float	vert_vel_state ()

float	TAS_rate_setpoint ()

float	speed_derivative ()

float	STE_error ()

float	STE_rate_error ()

float	SEB_error ()

float	SEB_rate_error ()

float	throttle_integ_state ()

float	pitch_integ_state ()

void	handle_alt_step (float delta_alt, float altitude)
	Handle the altitude reset. More...

Private Member Functions
void	_update_speed_states (float airspeed_setpoint, float indicated_airspeed, float eas_to_tas)
	Update the airspeed internal state using a second order complementary filter. More...

void	_update_speed_setpoint ()
	Update the desired airspeed. More...

void	_update_height_setpoint (float desired, float state)
	Update the desired height. More...

void	_detect_underspeed ()
	Detect if the system is not capable of maintaining airspeed. More...

void	_update_energy_estimates ()
	Update specific energy. More...

void	_update_throttle_setpoint (float throttle_cruise, const matrix::Dcmf &rotMat)
	Update throttle setpoint. More...

void	_detect_uncommanded_descent ()
	Detect an uncommanded descent. More...

void	_update_pitch_setpoint ()
	Update the pitch setpoint. More...

void	_initialize_states (float pitch, float throttle_cruise, float baro_altitude, float pitch_min_climbout, float eas_to_tas)
	Initialize the controller. More...

void	_update_STE_rate_lim ()
	Calculate specific total energy rate limits. More...

Private Attributes
uint64_t	_state_update_timestamp {0}
	last timestamp of the 50 Hz function call More...

uint64_t	_speed_update_timestamp {0}
	last timestamp of the speed function call More...

uint64_t	_pitch_update_timestamp {0}
	last timestamp of the pitch function call More...

float	_hgt_estimate_freq {0.0f}
	cross-over frequency of the height rate complementary filter (rad/sec) More...

float	_tas_estimate_freq {0.0f}
	cross-over frequency of the true airspeed complementary filter (rad/sec) More...

float	_max_climb_rate {2.0f}
	climb rate produced by max allowed throttle (m/sec) More...

float	_min_sink_rate {1.0f}
	sink rate produced by min allowed throttle (m/sec) More...

float	_max_sink_rate {2.0f}
	maximum safe sink rate (m/sec) More...

float	_pitch_time_constant {5.0f}
	control time constant used by the pitch demand calculation (sec) More...

float	_throttle_time_constant {8.0f}
	control time constant used by the throttle demand calculation (sec) More...

float	_pitch_damping_gain {0.0f}
	damping gain of the pitch demand calculation (sec) More...

float	_throttle_damping_gain {0.0f}
	damping gain of the throttle demand calculation (sec) More...

float	_integrator_gain {0.0f}
	integrator gain used by the throttle and pitch demand calculation More...

float	_vert_accel_limit {0.0f}
	magnitude of the maximum vertical acceleration allowed (m/sec**2) More...

float	_load_factor_correction {0.0f}
	gain from normal load factor increase to total energy rate demand (m2/sec3) More...

float	_pitch_speed_weight {1.0f}
	speed control weighting used by pitch demand calculation More...

float	_height_error_gain {0.0f}
	gain from height error to demanded climb rate (1/sec) More...

float	_height_setpoint_gain_ff {0.0f}
	gain from height demand derivative to demanded climb rate More...

float	_speed_error_gain {0.0f}
	gain from speed error to demanded speed rate (1/sec) More...

float	_indicated_airspeed_min {3.0f}
	equivalent airspeed demand lower limit (m/sec) More...

float	_indicated_airspeed_max {30.0f}
	equivalent airspeed demand upper limit (m/sec) More...

float	_throttle_slewrate {0.0f}
	throttle demand slew rate limit (1/sec) More...

float	_throttle_setpoint {0.0f}
	normalized throttle demand (0..1) More...

float	_pitch_setpoint {0.0f}
	pitch angle demand (radians) More...

float	_vert_accel_state {0.0f}
	complimentary filter state - height second derivative (m/sec**2) More...

float	_vert_vel_state {0.0f}
	complimentary filter state - height rate (m/sec) More...

float	_vert_pos_state {0.0f}
	complimentary filter state - height (m) More...

float	_tas_rate_state {0.0f}
	complimentary filter state - true airspeed first derivative (m/sec**2) More...

float	_tas_state {0.0f}
	complimentary filter state - true airspeed (m/sec) More...

float	_throttle_integ_state {0.0f}
	throttle integrator state More...

float	_pitch_integ_state {0.0f}
	pitch integrator state (rad) More...

float	_last_throttle_setpoint {0.0f}
	throttle demand rate limiter state (1/sec) More...

float	_last_pitch_setpoint {0.0f}
	pitch demand rate limiter state (rad/sec) More...

float	_speed_derivative {0.0f}
	rate of change of speed along X axis (m/sec**2) More...

float	_EAS {0.0f}
	equivalent airspeed (m/sec) More...

float	_TAS_max {30.0f}
	true airpeed demand upper limit (m/sec) More...

float	_TAS_min {3.0f}
	true airpeed demand lower limit (m/sec) More...

float	_TAS_setpoint {0.0f}
	current airpeed demand (m/sec) More...

float	_TAS_setpoint_last {0.0f}
	previous true airpeed demand (m/sec) More...

float	_EAS_setpoint {0.0f}
	Equivalent airspeed demand (m/sec) More...

float	_TAS_setpoint_adj {0.0f}
	true airspeed demand tracked by the TECS algorithm (m/sec) More...

float	_TAS_rate_setpoint {0.0f}
	true airspeed rate demand tracked by the TECS algorithm (m/sec**2) More...

float	_hgt_setpoint {0.0f}
	demanded height tracked by the TECS algorithm (m) More...

float	_hgt_setpoint_in_prev {0.0f}
	previous value of _hgt_setpoint after noise filtering (m) More...

float	_hgt_setpoint_prev {0.0f}
	previous value of _hgt_setpoint after noise filtering and rate limiting (m) More...

float	_hgt_setpoint_adj {0.0f}
	demanded height used by the control loops after all filtering has been applied (m) More...

float	_hgt_setpoint_adj_prev {0.0f}
	value of _hgt_setpoint_adj from previous frame (m) More...

float	_hgt_rate_setpoint {0.0f}
	demanded climb rate tracked by the TECS algorithm More...

float	_pitch_setpoint_unc {0.0f}
	pitch demand before limiting (rad) More...

float	_STE_rate_max {0.0f}
	specific total energy rate upper limit achieved when throttle is at _throttle_setpoint_max (m2/sec3) More...

float	_STE_rate_min {0.0f}
	specific total energy rate lower limit acheived when throttle is at _throttle_setpoint_min (m2/sec3) More...

float	_throttle_setpoint_max {0.0f}
	normalised throttle upper limit More...

float	_throttle_setpoint_min {0.0f}
	normalised throttle lower limit More...

float	_pitch_setpoint_max {0.5f}
	pitch demand upper limit (rad) More...

float	_pitch_setpoint_min {-0.5f}
	pitch demand lower limit (rad) More...

float	_SPE_setpoint {0.0f}
	specific potential energy demand (m2/sec2) More...

float	_SKE_setpoint {0.0f}
	specific kinetic energy demand (m2/sec2) More...

float	_SPE_rate_setpoint {0.0f}
	specific potential energy rate demand (m2/sec3) More...

float	_SKE_rate_setpoint {0.0f}
	specific kinetic energy rate demand (m2/sec3) More...

float	_SPE_estimate {0.0f}
	specific potential energy estimate (m2/sec2) More...

float	_SKE_estimate {0.0f}
	specific kinetic energy estimate (m2/sec2) More...

float	_SPE_rate {0.0f}
	specific potential energy rate estimate (m2/sec3) More...

float	_SKE_rate {0.0f}
	specific kinetic energy rate estimate (m2/sec3) More...

float	_STE_error {0.0f}
	specific total energy error (m2/sec2) More...

float	_STE_rate_error {0.0f}
	specific total energy rate error (m2/sec3) More...

float	_SEB_error {0.0f}
	specific energy balance error (m2/sec2) More...

float	_SEB_rate_error {0.0f}
	specific energy balance rate error (m2/sec3) More...

float	_dt {DT_DEFAULT}
	Time since last update of main TECS loop (sec) More...

bool	_underspeed_detected {false}
	true when an underspeed condition has been detected More...

bool	_detect_underspeed_enabled {true}
	true when underspeed detection is enabled More...

bool	_uncommanded_descent_recovery {false}
	true when a continuous descent caused by an unachievable airspeed demand has been detected More...

bool	_climbout_mode_active {false}
	true when in climbout mode More...

bool	_airspeed_enabled {false}
	true when airspeed use has been enabled More...

bool	_states_initalized {false}
	true when TECS states have been iniitalized More...

bool	_in_air {false}
	true when the vehicle is flying More...

Static Private Attributes
static constexpr float	DT_DEFAULT = 0.02f
	default value for _dt (sec) More...

Detailed Description

Definition at line 45 of file tecs.h.

Member Enumeration Documentation

◆ ECL_TECS_MODE

enum TECS::ECL_TECS_MODE

Enumerator
ECL_TECS_MODE_NORMAL
ECL_TECS_MODE_UNDERSPEED
ECL_TECS_MODE_BAD_DESCENT
ECL_TECS_MODE_CLIMBOUT

Definition at line 94 of file tecs.h.

Constructor & Destructor Documentation

◆ TECS() [1/3]

TECS::TECS ( )

default

◆ ~TECS()

TECS::~TECS ( )

default

◆ TECS() [2/3]

TECS::TECS ( const TECS & )

delete

◆ TECS() [3/3]

TECS::TECS ( TECS && )

delete

Member Function Documentation

◆ _detect_uncommanded_descent()

void TECS::_detect_uncommanded_descent ( )

private

Detect an uncommanded descent.

Definition at line 399 of file tecs.cpp.

References _SKE_rate, _SPE_rate, _STE_error, _throttle_setpoint, _throttle_setpoint_max, _uncommanded_descent_recovery, _underspeed_detected, and f().

Referenced by update_pitch_throttle().

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◆ _detect_underspeed()

void TECS::_detect_underspeed ( )

private

Detect if the system is not capable of maintaining airspeed.

Definition at line 268 of file tecs.cpp.

References _detect_underspeed_enabled, _hgt_setpoint_adj, _TAS_min, _tas_state, _throttle_setpoint, _throttle_setpoint_max, _underspeed_detected, _vert_pos_state, and f().

Referenced by update_pitch_throttle().

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◆ _initialize_states()

void TECS::_initialize_states	(	float	pitch,
		float	throttle_cruise,
		float	baro_altitude,
		float	pitch_min_climbout,
		float	eas_to_tas
	)

private

Initialize the controller.

Definition at line 518 of file tecs.cpp.

References _climbout_mode_active, _dt, _EAS, _hgt_setpoint_adj, _hgt_setpoint_adj_prev, _hgt_setpoint_in_prev, _hgt_setpoint_prev, _in_air, _last_pitch_setpoint, _last_throttle_setpoint, _pitch_integ_state, _pitch_setpoint_max, _pitch_setpoint_min, _pitch_setpoint_unc, _pitch_update_timestamp, _states_initalized, _STE_rate_error, _tas_rate_state, _TAS_setpoint_adj, _TAS_setpoint_last, _tas_state, _throttle_integ_state, _throttle_setpoint_max, _throttle_setpoint_min, _uncommanded_descent_recovery, _underspeed_detected, _vert_accel_state, _vert_pos_state, _vert_vel_state, math::constrain(), DT_DEFAULT, DT_MAX, and DT_MIN.

Referenced by update_pitch_throttle().

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◆ _update_energy_estimates()

void TECS::_update_energy_estimates ( )

private

Update specific energy.

Definition at line 285 of file tecs.cpp.

References _hgt_rate_setpoint, _hgt_setpoint_adj, _SKE_estimate, _SKE_rate, _SKE_rate_setpoint, _SKE_setpoint, _SPE_estimate, _SPE_rate, _SPE_rate_setpoint, _SPE_setpoint, _speed_derivative, _TAS_rate_setpoint, _TAS_setpoint_adj, _tas_state, _vert_pos_state, _vert_vel_state, and CONSTANTS_ONE_G.

Referenced by update_pitch_throttle().

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◆ _update_height_setpoint()

void TECS::_update_height_setpoint	(	float	desired,
		float	state
	)

private

Update the desired height.

Definition at line 222 of file tecs.cpp.

References _dt, _height_error_gain, _height_setpoint_gain_ff, _hgt_rate_setpoint, _hgt_setpoint, _hgt_setpoint_adj, _hgt_setpoint_adj_prev, _hgt_setpoint_in_prev, _hgt_setpoint_prev, _max_climb_rate, _max_sink_rate, f(), ISFINITE, and state.

Referenced by update_pitch_throttle().

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◆ _update_pitch_setpoint()

void TECS::_update_pitch_setpoint ( )

private

Update the pitch setpoint.

Definition at line 426 of file tecs.cpp.

References _climbout_mode_active, _dt, _integrator_gain, _last_pitch_setpoint, _pitch_damping_gain, _pitch_integ_state, _pitch_setpoint, _pitch_setpoint_max, _pitch_setpoint_min, _pitch_setpoint_unc, _pitch_speed_weight, _pitch_time_constant, _SEB_error, _SEB_rate_error, _SKE_estimate, _SKE_rate, _SKE_rate_setpoint, _SKE_setpoint, _SPE_estimate, _SPE_rate, _SPE_rate_setpoint, _SPE_setpoint, _tas_state, _underspeed_detected, _vert_accel_limit, airspeed_sensor_enabled(), CONSTANTS_ONE_G, math::constrain(), f(), math::max(), and math::min().

Referenced by update_pitch_throttle().

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◆ _update_speed_setpoint()

void TECS::_update_speed_setpoint ( )

private

Update the desired airspeed.

Definition at line 199 of file tecs.cpp.

References _speed_error_gain, _STE_rate_max, _STE_rate_min, _TAS_max, _TAS_min, _TAS_rate_setpoint, _TAS_setpoint, _TAS_setpoint_adj, _tas_state, _uncommanded_descent_recovery, _underspeed_detected, and math::constrain().

Referenced by update_pitch_throttle().

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◆ _update_speed_states()

void TECS::_update_speed_states	(	float	airspeed_setpoint,
		float	indicated_airspeed,
		float	eas_to_tas
	)

private

Update the airspeed internal state using a second order complementary filter.

Definition at line 149 of file tecs.cpp.

References _EAS, _EAS_setpoint, _in_air, _indicated_airspeed_max, _indicated_airspeed_min, _speed_derivative, _speed_update_timestamp, _tas_estimate_freq, _TAS_max, _TAS_min, _tas_rate_state, _TAS_setpoint, _tas_state, airspeed_sensor_enabled(), math::constrain(), dt, DT_MAX, DT_MIN, ecl_absolute_time, f(), ISFINITE, and math::max().

Referenced by update_pitch_throttle().

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◆ _update_STE_rate_lim()

void TECS::_update_STE_rate_lim ( )

private

Calculate specific total energy rate limits.

Definition at line 573 of file tecs.cpp.

References _max_climb_rate, _min_sink_rate, _STE_rate_max, _STE_rate_min, and CONSTANTS_ONE_G.

Referenced by update_pitch_throttle().

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◆ _update_throttle_setpoint()

void TECS::_update_throttle_setpoint	(	float	throttle_cruise,
		const matrix::Dcmf &	rotMat
	)

private

Update throttle setpoint.

Definition at line 304 of file tecs.cpp.

References _climbout_mode_active, _dt, _integrator_gain, _last_throttle_setpoint, _load_factor_correction, _SKE_estimate, _SKE_rate, _SKE_rate_setpoint, _SKE_setpoint, _SPE_estimate, _SPE_rate, _SPE_rate_setpoint, _SPE_setpoint, _STE_error, _STE_rate_error, _STE_rate_max, _STE_rate_min, _throttle_damping_gain, _throttle_integ_state, _throttle_setpoint, _throttle_setpoint_max, _throttle_setpoint_min, _throttle_slewrate, _throttle_time_constant, _underspeed_detected, airspeed_sensor_enabled(), math::constrain(), and f().

Referenced by update_pitch_throttle().

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◆ airspeed_sensor_enabled()

bool TECS::airspeed_sensor_enabled ( )

inline

Get the current airspeed status.

Returns: true if airspeed is enabled for control

Definition at line 62 of file tecs.h.

References _airspeed_enabled.

Referenced by _update_pitch_setpoint(), _update_speed_states(), _update_throttle_setpoint(), and update_vehicle_state_estimates().

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◆ enable_airspeed()

void TECS::enable_airspeed ( bool enabled )

inline

Set the airspeed enable state.

Definition at line 67 of file tecs.h.

References _airspeed_enabled, update_pitch_throttle(), and update_vehicle_state_estimates().

Referenced by FixedwingPositionControl::airspeed_poll().

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◆ get_pitch_setpoint()

float TECS::get_pitch_setpoint ( )

inline

Definition at line 89 of file tecs.h.

References _pitch_setpoint.

Referenced by FixedwingPositionControl::get_tecs_pitch().

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◆ get_speed_weight()

float TECS::get_speed_weight ( )

inline

Definition at line 90 of file tecs.h.

References _pitch_speed_weight.

◆ get_throttle_setpoint()

float TECS::get_throttle_setpoint ( void )

inline

Definition at line 88 of file tecs.h.

References _throttle_setpoint.

Referenced by FixedwingPositionControl::get_tecs_thrust().

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◆ handle_alt_step()

void TECS::handle_alt_step	(	float	delta_alt,
		float	altitude
	)

inline

Handle the altitude reset.

If the estimation system resets the height in one discrete step this will gracefully even out the reset over time.

Definition at line 162 of file tecs.h.

References _hgt_setpoint_adj_prev, _hgt_setpoint_in_prev, _hgt_setpoint_prev, _vert_accel_state, _vert_pos_state, _vert_vel_state, and ECL_TECS_MODE_NORMAL.

Referenced by FixedwingPositionControl::Run().

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◆ hgt_rate_setpoint()

float TECS::hgt_rate_setpoint ( )

inline

Definition at line 141 of file tecs.h.

References _hgt_rate_setpoint.

Referenced by FixedwingPositionControl::tecs_status_publish().

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◆ hgt_setpoint_adj()

float TECS::hgt_setpoint_adj ( )

inline

Definition at line 135 of file tecs.h.

References _hgt_setpoint_adj.

Referenced by FixedwingPositionControl::tecs_status_publish().

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◆ operator=() [1/2]

TECS& TECS::operator= ( const TECS & )

delete

◆ operator=() [2/2]

TECS& TECS::operator= ( TECS && )

delete

◆ pitch_integ_state()

float TECS::pitch_integ_state ( )

inline

Definition at line 154 of file tecs.h.

References _pitch_integ_state.

Referenced by FixedwingPositionControl::tecs_status_publish().

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◆ reset_state()

void TECS::reset_state ( )

inline

Definition at line 92 of file tecs.h.

References _states_initalized.

Referenced by FixedwingPositionControl::control_position(), and FixedwingPositionControl::tecs_update_pitch_throttle().

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◆ SEB_error()

float TECS::SEB_error ( )

inline

Definition at line 150 of file tecs.h.

References _SEB_error.

Referenced by FixedwingPositionControl::tecs_status_publish().

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◆ SEB_rate_error()

float TECS::SEB_rate_error ( )

inline

Definition at line 151 of file tecs.h.

References _SEB_rate_error.

Referenced by FixedwingPositionControl::tecs_status_publish().

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◆ set_detect_underspeed_enabled()

void TECS::set_detect_underspeed_enabled ( bool enabled )

inline

Definition at line 101 of file tecs.h.

References _detect_underspeed_enabled.

Referenced by FixedwingPositionControl::tecs_update_pitch_throttle().

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◆ set_height_comp_filter_omega()

void TECS::set_height_comp_filter_omega ( float omega )

inline

Definition at line 111 of file tecs.h.

References _hgt_estimate_freq.

Referenced by FixedwingPositionControl::init().

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◆ set_heightrate_ff()

void TECS::set_heightrate_ff ( float heightrate_ff )

inline

Definition at line 112 of file tecs.h.

References _height_setpoint_gain_ff.

Referenced by FixedwingPositionControl::init().

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◆ set_heightrate_p()

void TECS::set_heightrate_p ( float heightrate_p )

inline

Definition at line 113 of file tecs.h.

References _height_error_gain.

Referenced by FixedwingPositionControl::init().

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◆ set_indicated_airspeed_max()

void TECS::set_indicated_airspeed_max ( float airspeed )

inline

Definition at line 115 of file tecs.h.

References _indicated_airspeed_max.

Referenced by FixedwingPositionControl::init().

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◆ set_indicated_airspeed_min()

void TECS::set_indicated_airspeed_min ( float airspeed )

inline

Definition at line 116 of file tecs.h.

References _indicated_airspeed_min.

Referenced by FixedwingPositionControl::init().

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◆ set_integrator_gain()

void TECS::set_integrator_gain ( float gain )

inline

Definition at line 105 of file tecs.h.

References _integrator_gain.

Referenced by FixedwingPositionControl::init().

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◆ set_max_climb_rate()

void TECS::set_max_climb_rate ( float climb_rate )

inline

Definition at line 109 of file tecs.h.

References _max_climb_rate.

Referenced by FixedwingPositionControl::init().

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◆ set_max_sink_rate()

void TECS::set_max_sink_rate ( float sink_rate )

inline

Definition at line 108 of file tecs.h.

References _max_sink_rate.

Referenced by FixedwingPositionControl::init().

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◆ set_min_sink_rate()

void TECS::set_min_sink_rate ( float rate )

inline

Definition at line 107 of file tecs.h.

References _min_sink_rate.

Referenced by FixedwingPositionControl::init().

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◆ set_pitch_damping()

void TECS::set_pitch_damping ( float damping )

inline

Definition at line 118 of file tecs.h.

References _pitch_damping_gain.

Referenced by FixedwingPositionControl::init().

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◆ set_roll_throttle_compensation()

void TECS::set_roll_throttle_compensation ( float compensation )

inline

Definition at line 129 of file tecs.h.

References _load_factor_correction.

Referenced by FixedwingPositionControl::init().

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◆ set_speed_comp_filter_omega()

void TECS::set_speed_comp_filter_omega ( float omega )

inline

Definition at line 121 of file tecs.h.

References _tas_estimate_freq.

Referenced by FixedwingPositionControl::init().

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◆ set_speed_weight()

void TECS::set_speed_weight ( float weight )

inline

Definition at line 122 of file tecs.h.

References _pitch_speed_weight.

Referenced by FixedwingPositionControl::control_position(), and FixedwingPositionControl::init().

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◆ set_speedrate_p()

void TECS::set_speedrate_p ( float speedrate_p )

inline

Definition at line 123 of file tecs.h.

References _speed_error_gain.

Referenced by FixedwingPositionControl::init().

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◆ set_throttle_damp()

void TECS::set_throttle_damp ( float throttle_damp )

inline

Definition at line 126 of file tecs.h.

References _throttle_damping_gain.

Referenced by FixedwingPositionControl::init().

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◆ set_throttle_slewrate()

void TECS::set_throttle_slewrate ( float slewrate )

inline

Definition at line 127 of file tecs.h.

References _throttle_slewrate.

Referenced by FixedwingPositionControl::init().

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◆ set_time_const()

void TECS::set_time_const ( float time_const )

inline

Definition at line 104 of file tecs.h.

References _pitch_time_constant.

Referenced by FixedwingPositionControl::init().

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◆ set_time_const_throt()

void TECS::set_time_const_throt ( float time_const_throt )

inline

Definition at line 125 of file tecs.h.

References _throttle_time_constant.

Referenced by FixedwingPositionControl::control_landing(), FixedwingPositionControl::control_position(), and FixedwingPositionControl::init().

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◆ set_vertical_accel_limit()

void TECS::set_vertical_accel_limit ( float limit )

inline

Definition at line 119 of file tecs.h.

References _vert_accel_limit.

Referenced by FixedwingPositionControl::init().

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◆ speed_derivative()

float TECS::speed_derivative ( )

inline

Definition at line 145 of file tecs.h.

References _speed_derivative.

Referenced by FixedwingPositionControl::tecs_status_publish().

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◆ STE_error()

float TECS::STE_error ( )

inline

Definition at line 147 of file tecs.h.

References _STE_error.

Referenced by FixedwingPositionControl::tecs_status_publish().

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◆ STE_rate_error()

float TECS::STE_rate_error ( )

inline

Definition at line 148 of file tecs.h.

References _STE_rate_error.

Referenced by FixedwingPositionControl::tecs_status_publish().

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◆ TAS_rate_setpoint()

float TECS::TAS_rate_setpoint ( )

inline

Definition at line 144 of file tecs.h.

References _TAS_rate_setpoint.

Referenced by FixedwingPositionControl::tecs_status_publish().

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◆ TAS_setpoint_adj()

float TECS::TAS_setpoint_adj ( )

inline

Definition at line 138 of file tecs.h.

References _TAS_setpoint_adj.

Referenced by FixedwingPositionControl::tecs_status_publish().

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◆ tas_state()

float TECS::tas_state ( )

inline

Definition at line 139 of file tecs.h.

References _tas_state.

Referenced by FixedwingPositionControl::tecs_status_publish().

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◆ tecs_mode()

ECL_TECS_MODE TECS::tecs_mode ( )

inline

Definition at line 133 of file tecs.h.

Referenced by FixedwingPositionControl::tecs_status_publish().

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◆ throttle_integ_state()

float TECS::throttle_integ_state ( )

inline

Definition at line 153 of file tecs.h.

References _throttle_integ_state.

Referenced by FixedwingPositionControl::tecs_status_publish().

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◆ timestamp()

uint64_t TECS::timestamp ( )

inline

Definition at line 132 of file tecs.h.

References _pitch_update_timestamp.

◆ update_pitch_throttle()

void TECS::update_pitch_throttle	(	const matrix::Dcmf &	rotMat,
		float	pitch,
		float	baro_altitude,
		float	hgt_setpoint,
		float	EAS_setpoint,
		float	indicated_airspeed,
		float	eas_to_tas,
		bool	climb_out_setpoint,
		float	pitch_min_climbout,
		float	throttle_min,
		float	throttle_setpoint_max,
		float	throttle_cruise,
		float	pitch_limit_min,
		float	pitch_limit_max
	)

Update the control loop calculations.

Definition at line 582 of file tecs.cpp.

References _climbout_mode_active, _detect_uncommanded_descent(), _detect_underspeed(), _dt, _in_air, _initialize_states(), _pitch_setpoint_max, _pitch_setpoint_min, _pitch_update_timestamp, _throttle_setpoint_max, _throttle_setpoint_min, _uncommanded_descent_recovery, _underspeed_detected, _update_energy_estimates(), _update_height_setpoint(), _update_pitch_setpoint(), _update_speed_setpoint(), _update_speed_states(), _update_STE_rate_lim(), _update_throttle_setpoint(), math::constrain(), DT_MAX, DT_MIN, ecl_absolute_time, ECL_TECS_MODE_BAD_DESCENT, ECL_TECS_MODE_CLIMBOUT, ECL_TECS_MODE_NORMAL, ECL_TECS_MODE_UNDERSPEED, and f().

Referenced by enable_airspeed(), and FixedwingPositionControl::tecs_update_pitch_throttle().

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◆ update_vehicle_state_estimates()

void TECS::update_vehicle_state_estimates	(	float	airspeed,
		const matrix::Dcmf &	rotMat,
		const matrix::Vector3f &	accel_body,
		bool	altitude_lock,
		bool	in_air,
		float	altitude,
		bool	vz_valid,
		float	vz,
		float	az
	)

Updates the following vehicle kineamtic state estimates: Vertical position, velocity and acceleration.

Speed derivative Must be called prior to udating tecs control loops Must be called at 50Hz or greater

Definition at line 57 of file tecs.cpp.

References _EAS, _hgt_estimate_freq, _in_air, _speed_derivative, _state_update_timestamp, _states_initalized, _vert_accel_state, _vert_pos_state, _vert_vel_state, airspeed_sensor_enabled(), CONSTANTS_ONE_G, math::constrain(), dt, DT_DEFAULT, DT_MAX, DT_MIN, ecl_absolute_time, f(), and ISFINITE.

Referenced by enable_airspeed(), and FixedwingPositionControl::tecs_update_pitch_throttle().

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◆ vert_pos_state()

float TECS::vert_pos_state ( )

inline

Definition at line 136 of file tecs.h.

References _vert_pos_state.

Referenced by FixedwingPositionControl::tecs_status_publish().

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◆ vert_vel_state()

float TECS::vert_vel_state ( )

inline

Definition at line 142 of file tecs.h.

References _vert_vel_state.

Referenced by FixedwingPositionControl::tecs_status_publish().

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Member Data Documentation

◆ _airspeed_enabled

bool TECS::_airspeed_enabled {false}

private

true when airspeed use has been enabled

Definition at line 276 of file tecs.h.

Referenced by airspeed_sensor_enabled(), and enable_airspeed().

◆ _climbout_mode_active

bool TECS::_climbout_mode_active {false}

private

true when in climbout mode

Definition at line 275 of file tecs.h.

Referenced by _initialize_states(), _update_pitch_setpoint(), _update_throttle_setpoint(), and update_pitch_throttle().

◆ _detect_underspeed_enabled

bool TECS::_detect_underspeed_enabled {true}

private

true when underspeed detection is enabled

Definition at line 273 of file tecs.h.

Referenced by _detect_underspeed(), and set_detect_underspeed_enabled().

◆ _dt

float TECS::_dt {DT_DEFAULT}

private

Time since last update of main TECS loop (sec)

Definition at line 268 of file tecs.h.

Referenced by _initialize_states(), _update_height_setpoint(), _update_pitch_setpoint(), _update_throttle_setpoint(), and update_pitch_throttle().

◆ _EAS

float TECS::_EAS {0.0f}

private

equivalent airspeed (m/sec)

Definition at line 225 of file tecs.h.

Referenced by _initialize_states(), _update_speed_states(), and update_vehicle_state_estimates().

◆ _EAS_setpoint

float TECS::_EAS_setpoint {0.0f}

private

Equivalent airspeed demand (m/sec)

Definition at line 230 of file tecs.h.

Referenced by _update_speed_states().

◆ _height_error_gain

float TECS::_height_error_gain {0.0f}

private

gain from height error to demanded climb rate (1/sec)

Definition at line 199 of file tecs.h.

Referenced by _update_height_setpoint(), and set_heightrate_p().

◆ _height_setpoint_gain_ff

float TECS::_height_setpoint_gain_ff {0.0f}

private

gain from height demand derivative to demanded climb rate

Definition at line 200 of file tecs.h.

Referenced by _update_height_setpoint(), and set_heightrate_ff().

◆ _hgt_estimate_freq

float TECS::_hgt_estimate_freq {0.0f}

private

cross-over frequency of the height rate complementary filter (rad/sec)

Definition at line 186 of file tecs.h.

Referenced by set_height_comp_filter_omega(), and update_vehicle_state_estimates().

◆ _hgt_rate_setpoint

float TECS::_hgt_rate_setpoint {0.0f}

private

demanded climb rate tracked by the TECS algorithm

Definition at line 240 of file tecs.h.

Referenced by _update_energy_estimates(), _update_height_setpoint(), and hgt_rate_setpoint().

◆ _hgt_setpoint

float TECS::_hgt_setpoint {0.0f}

private

demanded height tracked by the TECS algorithm (m)

Definition at line 235 of file tecs.h.

Referenced by _update_height_setpoint().

◆ _hgt_setpoint_adj

float TECS::_hgt_setpoint_adj {0.0f}

private

demanded height used by the control loops after all filtering has been applied (m)

Definition at line 238 of file tecs.h.

Referenced by _detect_underspeed(), _initialize_states(), _update_energy_estimates(), _update_height_setpoint(), and hgt_setpoint_adj().

◆ _hgt_setpoint_adj_prev

float TECS::_hgt_setpoint_adj_prev {0.0f}

private

value of _hgt_setpoint_adj from previous frame (m)

Definition at line 239 of file tecs.h.

Referenced by _initialize_states(), _update_height_setpoint(), and handle_alt_step().

◆ _hgt_setpoint_in_prev

float TECS::_hgt_setpoint_in_prev {0.0f}

private

previous value of _hgt_setpoint after noise filtering (m)

Definition at line 236 of file tecs.h.

Referenced by _initialize_states(), _update_height_setpoint(), and handle_alt_step().

◆ _hgt_setpoint_prev

float TECS::_hgt_setpoint_prev {0.0f}

private

previous value of _hgt_setpoint after noise filtering and rate limiting (m)

Definition at line 237 of file tecs.h.

Referenced by _initialize_states(), _update_height_setpoint(), and handle_alt_step().

◆ _in_air

bool TECS::_in_air {false}

private

true when the vehicle is flying

Definition at line 278 of file tecs.h.

Referenced by _initialize_states(), _update_speed_states(), update_pitch_throttle(), and update_vehicle_state_estimates().

◆ _indicated_airspeed_max

float TECS::_indicated_airspeed_max {30.0f}

private

equivalent airspeed demand upper limit (m/sec)

Definition at line 203 of file tecs.h.

Referenced by _update_speed_states(), and set_indicated_airspeed_max().

◆ _indicated_airspeed_min

float TECS::_indicated_airspeed_min {3.0f}

private

equivalent airspeed demand lower limit (m/sec)

Definition at line 202 of file tecs.h.

Referenced by _update_speed_states(), and set_indicated_airspeed_min().

◆ _integrator_gain

float TECS::_integrator_gain {0.0f}

private

integrator gain used by the throttle and pitch demand calculation

Definition at line 195 of file tecs.h.

Referenced by _update_pitch_setpoint(), _update_throttle_setpoint(), and set_integrator_gain().

◆ _last_pitch_setpoint

float TECS::_last_pitch_setpoint {0.0f}

private

pitch demand rate limiter state (rad/sec)

Definition at line 221 of file tecs.h.

Referenced by _initialize_states(), and _update_pitch_setpoint().

◆ _last_throttle_setpoint

float TECS::_last_throttle_setpoint {0.0f}

private

throttle demand rate limiter state (1/sec)

Definition at line 220 of file tecs.h.

Referenced by _initialize_states(), and _update_throttle_setpoint().

◆ _load_factor_correction

float TECS::_load_factor_correction {0.0f}

private

gain from normal load factor increase to total energy rate demand (m**2/sec**3)

Definition at line 197 of file tecs.h.

Referenced by _update_throttle_setpoint(), and set_roll_throttle_compensation().

◆ _max_climb_rate

float TECS::_max_climb_rate {2.0f}

private

climb rate produced by max allowed throttle (m/sec)

Definition at line 188 of file tecs.h.

Referenced by _update_height_setpoint(), _update_STE_rate_lim(), and set_max_climb_rate().

◆ _max_sink_rate

float TECS::_max_sink_rate {2.0f}

private

maximum safe sink rate (m/sec)

Definition at line 190 of file tecs.h.

Referenced by _update_height_setpoint(), and set_max_sink_rate().

◆ _min_sink_rate

float TECS::_min_sink_rate {1.0f}

private

sink rate produced by min allowed throttle (m/sec)

Definition at line 189 of file tecs.h.

Referenced by _update_STE_rate_lim(), and set_min_sink_rate().

◆ _pitch_damping_gain

float TECS::_pitch_damping_gain {0.0f}

private

damping gain of the pitch demand calculation (sec)

Definition at line 193 of file tecs.h.

Referenced by _update_pitch_setpoint(), and set_pitch_damping().

◆ _pitch_integ_state

float TECS::_pitch_integ_state {0.0f}

private

pitch integrator state (rad)

Definition at line 219 of file tecs.h.

Referenced by _initialize_states(), _update_pitch_setpoint(), and pitch_integ_state().

◆ _pitch_setpoint

float TECS::_pitch_setpoint {0.0f}

private

pitch angle demand (radians)

Definition at line 208 of file tecs.h.

Referenced by _update_pitch_setpoint(), and get_pitch_setpoint().

◆ _pitch_setpoint_max

float TECS::_pitch_setpoint_max {0.5f}

private

pitch demand upper limit (rad)

Definition at line 248 of file tecs.h.

Referenced by _initialize_states(), _update_pitch_setpoint(), and update_pitch_throttle().

◆ _pitch_setpoint_min

float TECS::_pitch_setpoint_min {-0.5f}

private

pitch demand lower limit (rad)

Definition at line 249 of file tecs.h.

Referenced by _initialize_states(), _update_pitch_setpoint(), and update_pitch_throttle().

◆ _pitch_setpoint_unc

float TECS::_pitch_setpoint_unc {0.0f}

private

pitch demand before limiting (rad)

Definition at line 243 of file tecs.h.

Referenced by _initialize_states(), and _update_pitch_setpoint().

◆ _pitch_speed_weight

float TECS::_pitch_speed_weight {1.0f}

private

speed control weighting used by pitch demand calculation

Definition at line 198 of file tecs.h.

Referenced by _update_pitch_setpoint(), get_speed_weight(), and set_speed_weight().

◆ _pitch_time_constant

float TECS::_pitch_time_constant {5.0f}

private

control time constant used by the pitch demand calculation (sec)

Definition at line 191 of file tecs.h.

Referenced by _update_pitch_setpoint(), and set_time_const().

◆ _pitch_update_timestamp

uint64_t TECS::_pitch_update_timestamp {0}

private

last timestamp of the pitch function call

Definition at line 183 of file tecs.h.

Referenced by _initialize_states(), timestamp(), and update_pitch_throttle().

◆ _SEB_error

float TECS::_SEB_error {0.0f}

private

specific energy balance error (m**2/sec**2)

Definition at line 264 of file tecs.h.

Referenced by _update_pitch_setpoint(), and SEB_error().

◆ _SEB_rate_error

float TECS::_SEB_rate_error {0.0f}

private

specific energy balance rate error (m**2/sec**3)

Definition at line 265 of file tecs.h.

Referenced by _update_pitch_setpoint(), and SEB_rate_error().

◆ _SKE_estimate

float TECS::_SKE_estimate {0.0f}

private

specific kinetic energy estimate (m**2/sec**2)

Definition at line 257 of file tecs.h.

Referenced by _update_energy_estimates(), _update_pitch_setpoint(), and _update_throttle_setpoint().

◆ _SKE_rate

float TECS::_SKE_rate {0.0f}

private

specific kinetic energy rate estimate (m**2/sec**3)

Definition at line 259 of file tecs.h.

Referenced by _detect_uncommanded_descent(), _update_energy_estimates(), _update_pitch_setpoint(), and _update_throttle_setpoint().

◆ _SKE_rate_setpoint

float TECS::_SKE_rate_setpoint {0.0f}

private

specific kinetic energy rate demand (m**2/sec**3)

Definition at line 255 of file tecs.h.

Referenced by _update_energy_estimates(), _update_pitch_setpoint(), and _update_throttle_setpoint().

◆ _SKE_setpoint

float TECS::_SKE_setpoint {0.0f}

private

specific kinetic energy demand (m**2/sec**2)

Definition at line 253 of file tecs.h.

Referenced by _update_energy_estimates(), _update_pitch_setpoint(), and _update_throttle_setpoint().

◆ _SPE_estimate

float TECS::_SPE_estimate {0.0f}

private

specific potential energy estimate (m**2/sec**2)

Definition at line 256 of file tecs.h.

Referenced by _update_energy_estimates(), _update_pitch_setpoint(), and _update_throttle_setpoint().

◆ _SPE_rate

float TECS::_SPE_rate {0.0f}

private

specific potential energy rate estimate (m**2/sec**3)

Definition at line 258 of file tecs.h.

Referenced by _detect_uncommanded_descent(), _update_energy_estimates(), _update_pitch_setpoint(), and _update_throttle_setpoint().

◆ _SPE_rate_setpoint

float TECS::_SPE_rate_setpoint {0.0f}

private

specific potential energy rate demand (m**2/sec**3)

Definition at line 254 of file tecs.h.

Referenced by _update_energy_estimates(), _update_pitch_setpoint(), and _update_throttle_setpoint().

◆ _SPE_setpoint

float TECS::_SPE_setpoint {0.0f}

private

specific potential energy demand (m**2/sec**2)

Definition at line 252 of file tecs.h.

Referenced by _update_energy_estimates(), _update_pitch_setpoint(), and _update_throttle_setpoint().

◆ _speed_derivative

float TECS::_speed_derivative {0.0f}

private

rate of change of speed along X axis (m/sec**2)

Definition at line 222 of file tecs.h.

Referenced by _update_energy_estimates(), _update_speed_states(), speed_derivative(), and update_vehicle_state_estimates().

◆ _speed_error_gain

float TECS::_speed_error_gain {0.0f}

private

gain from speed error to demanded speed rate (1/sec)

Definition at line 201 of file tecs.h.

Referenced by _update_speed_setpoint(), and set_speedrate_p().

◆ _speed_update_timestamp

uint64_t TECS::_speed_update_timestamp {0}

private

last timestamp of the speed function call

Definition at line 182 of file tecs.h.

Referenced by _update_speed_states().

◆ _state_update_timestamp

uint64_t TECS::_state_update_timestamp {0}

private

last timestamp of the 50 Hz function call

Definition at line 181 of file tecs.h.

Referenced by update_vehicle_state_estimates().

◆ _states_initalized

bool TECS::_states_initalized {false}

private

true when TECS states have been iniitalized

Definition at line 277 of file tecs.h.

Referenced by _initialize_states(), reset_state(), and update_vehicle_state_estimates().

◆ _STE_error

float TECS::_STE_error {0.0f}

private

specific total energy error (m**2/sec**2)

Definition at line 262 of file tecs.h.

Referenced by _detect_uncommanded_descent(), _update_throttle_setpoint(), and STE_error().

◆ _STE_rate_error

float TECS::_STE_rate_error {0.0f}

private

specific total energy rate error (m**2/sec**3)

Definition at line 263 of file tecs.h.

Referenced by _initialize_states(), _update_throttle_setpoint(), and STE_rate_error().

◆ _STE_rate_max

float TECS::_STE_rate_max {0.0f}

private

specific total energy rate upper limit achieved when throttle is at _throttle_setpoint_max (m**2/sec**3)

Definition at line 244 of file tecs.h.

Referenced by _update_speed_setpoint(), _update_STE_rate_lim(), and _update_throttle_setpoint().

◆ _STE_rate_min

float TECS::_STE_rate_min {0.0f}

private

specific total energy rate lower limit acheived when throttle is at _throttle_setpoint_min (m**2/sec**3)

Definition at line 245 of file tecs.h.

Referenced by _update_speed_setpoint(), _update_STE_rate_lim(), and _update_throttle_setpoint().

◆ _tas_estimate_freq

float TECS::_tas_estimate_freq {0.0f}

private

cross-over frequency of the true airspeed complementary filter (rad/sec)

Definition at line 187 of file tecs.h.

Referenced by _update_speed_states(), and set_speed_comp_filter_omega().

◆ _TAS_max

float TECS::_TAS_max {30.0f}

private

true airpeed demand upper limit (m/sec)

Definition at line 226 of file tecs.h.

Referenced by _update_speed_setpoint(), and _update_speed_states().

◆ _TAS_min

float TECS::_TAS_min {3.0f}

private

true airpeed demand lower limit (m/sec)

Definition at line 227 of file tecs.h.

Referenced by _detect_underspeed(), _update_speed_setpoint(), and _update_speed_states().

◆ _TAS_rate_setpoint

float TECS::_TAS_rate_setpoint {0.0f}

private

true airspeed rate demand tracked by the TECS algorithm (m/sec**2)

Definition at line 232 of file tecs.h.

Referenced by _update_energy_estimates(), _update_speed_setpoint(), and TAS_rate_setpoint().

◆ _tas_rate_state

float TECS::_tas_rate_state {0.0f}

private

complimentary filter state - true airspeed first derivative (m/sec**2)

Definition at line 214 of file tecs.h.

Referenced by _initialize_states(), and _update_speed_states().

◆ _TAS_setpoint

float TECS::_TAS_setpoint {0.0f}

private

current airpeed demand (m/sec)

Definition at line 228 of file tecs.h.

Referenced by _update_speed_setpoint(), and _update_speed_states().

◆ _TAS_setpoint_adj

float TECS::_TAS_setpoint_adj {0.0f}

private

true airspeed demand tracked by the TECS algorithm (m/sec)

Definition at line 231 of file tecs.h.

Referenced by _initialize_states(), _update_energy_estimates(), _update_speed_setpoint(), and TAS_setpoint_adj().

◆ _TAS_setpoint_last

float TECS::_TAS_setpoint_last {0.0f}

private

previous true airpeed demand (m/sec)

Definition at line 229 of file tecs.h.

Referenced by _initialize_states().

◆ _tas_state

float TECS::_tas_state {0.0f}

private

complimentary filter state - true airspeed (m/sec)

Definition at line 215 of file tecs.h.

Referenced by _detect_underspeed(), _initialize_states(), _update_energy_estimates(), _update_pitch_setpoint(), _update_speed_setpoint(), _update_speed_states(), and tas_state().

◆ _throttle_damping_gain

float TECS::_throttle_damping_gain {0.0f}

private

damping gain of the throttle demand calculation (sec)

Definition at line 194 of file tecs.h.

Referenced by _update_throttle_setpoint(), and set_throttle_damp().

◆ _throttle_integ_state

float TECS::_throttle_integ_state {0.0f}

private

throttle integrator state

Definition at line 218 of file tecs.h.

Referenced by _initialize_states(), _update_throttle_setpoint(), and throttle_integ_state().

◆ _throttle_setpoint

float TECS::_throttle_setpoint {0.0f}

private

normalized throttle demand (0..1)

Definition at line 207 of file tecs.h.

Referenced by _detect_uncommanded_descent(), _detect_underspeed(), _update_throttle_setpoint(), and get_throttle_setpoint().

◆ _throttle_setpoint_max

float TECS::_throttle_setpoint_max {0.0f}

private

normalised throttle upper limit

Definition at line 246 of file tecs.h.

Referenced by _detect_uncommanded_descent(), _detect_underspeed(), _initialize_states(), _update_throttle_setpoint(), and update_pitch_throttle().

◆ _throttle_setpoint_min

float TECS::_throttle_setpoint_min {0.0f}

private

normalised throttle lower limit

Definition at line 247 of file tecs.h.

Referenced by _initialize_states(), _update_throttle_setpoint(), and update_pitch_throttle().

◆ _throttle_slewrate

float TECS::_throttle_slewrate {0.0f}

private

throttle demand slew rate limit (1/sec)

Definition at line 204 of file tecs.h.

Referenced by _update_throttle_setpoint(), and set_throttle_slewrate().

◆ _throttle_time_constant

float TECS::_throttle_time_constant {8.0f}

private

control time constant used by the throttle demand calculation (sec)

Definition at line 192 of file tecs.h.

Referenced by _update_throttle_setpoint(), and set_time_const_throt().

◆ _uncommanded_descent_recovery

bool TECS::_uncommanded_descent_recovery {false}

private

true when a continuous descent caused by an unachievable airspeed demand has been detected

Definition at line 274 of file tecs.h.

Referenced by _detect_uncommanded_descent(), _initialize_states(), _update_speed_setpoint(), and update_pitch_throttle().

◆ _underspeed_detected

bool TECS::_underspeed_detected {false}

private

true when an underspeed condition has been detected

Definition at line 272 of file tecs.h.

Referenced by _detect_uncommanded_descent(), _detect_underspeed(), _initialize_states(), _update_pitch_setpoint(), _update_speed_setpoint(), _update_throttle_setpoint(), and update_pitch_throttle().

◆ _vert_accel_limit

float TECS::_vert_accel_limit {0.0f}

private

magnitude of the maximum vertical acceleration allowed (m/sec**2)

Definition at line 196 of file tecs.h.

Referenced by _update_pitch_setpoint(), and set_vertical_accel_limit().

◆ _vert_accel_state

float TECS::_vert_accel_state {0.0f}

private

complimentary filter state - height second derivative (m/sec**2)

Definition at line 211 of file tecs.h.

Referenced by _initialize_states(), handle_alt_step(), and update_vehicle_state_estimates().

◆ _vert_pos_state

float TECS::_vert_pos_state {0.0f}

private

complimentary filter state - height (m)

Definition at line 213 of file tecs.h.

Referenced by _detect_underspeed(), _initialize_states(), _update_energy_estimates(), handle_alt_step(), update_vehicle_state_estimates(), and vert_pos_state().

◆ _vert_vel_state

float TECS::_vert_vel_state {0.0f}

private

complimentary filter state - height rate (m/sec)

Definition at line 212 of file tecs.h.

Referenced by _initialize_states(), _update_energy_estimates(), handle_alt_step(), update_vehicle_state_estimates(), and vert_vel_state().

◆ DT_DEFAULT

constexpr float TECS::DT_DEFAULT = 0.02f

staticprivate

default value for _dt (sec)

Definition at line 269 of file tecs.h.

Referenced by _initialize_states(), and update_vehicle_state_estimates().

The documentation for this class was generated from the following files:

src/lib/ecl/tecs/tecs.h
src/lib/ecl/tecs/tecs.cpp

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Member Enumeration Documentation

◆ ECL_TECS_MODE

Constructor & Destructor Documentation

◆ TECS() [1/3]

◆ ~TECS()

◆ TECS() [2/3]

◆ TECS() [3/3]

Member Function Documentation

◆ _detect_uncommanded_descent()

◆ _detect_underspeed()

◆ _initialize_states()

◆ _update_energy_estimates()

◆ _update_height_setpoint()

◆ _update_pitch_setpoint()

◆ _update_speed_setpoint()

◆ _update_speed_states()

◆ _update_STE_rate_lim()

◆ _update_throttle_setpoint()

◆ airspeed_sensor_enabled()

◆ enable_airspeed()

◆ get_pitch_setpoint()

◆ get_speed_weight()

◆ get_throttle_setpoint()

◆ handle_alt_step()

◆ hgt_rate_setpoint()

◆ hgt_setpoint_adj()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ pitch_integ_state()

◆ reset_state()

◆ SEB_error()

◆ SEB_rate_error()

◆ set_detect_underspeed_enabled()

◆ set_height_comp_filter_omega()

◆ set_heightrate_ff()

◆ set_heightrate_p()

◆ set_indicated_airspeed_max()

◆ set_indicated_airspeed_min()

◆ set_integrator_gain()

◆ set_max_climb_rate()

◆ set_max_sink_rate()

◆ set_min_sink_rate()

◆ set_pitch_damping()

◆ set_roll_throttle_compensation()

◆ set_speed_comp_filter_omega()

◆ set_speed_weight()

◆ set_speedrate_p()

◆ set_throttle_damp()

◆ set_throttle_slewrate()

◆ set_time_const()

◆ set_time_const_throt()

◆ set_vertical_accel_limit()

◆ speed_derivative()

◆ STE_error()

◆ STE_rate_error()

◆ TAS_rate_setpoint()

◆ TAS_setpoint_adj()

◆ tas_state()

◆ tecs_mode()

◆ throttle_integ_state()

◆ timestamp()

◆ update_pitch_throttle()

◆ update_vehicle_state_estimates()

◆ vert_pos_state()

◆ vert_vel_state()

Member Data Documentation

◆ _airspeed_enabled

◆ _climbout_mode_active

◆ _detect_underspeed_enabled

◆ _dt

◆ _EAS

◆ _EAS_setpoint

◆ _height_error_gain

◆ _height_setpoint_gain_ff