AP_TECS Class Reference

#include <AP_TECS.h>

Inheritance diagram for AP_TECS:

Collaboration diagram for AP_TECS:

Classes
struct	flags

Public Member Functions
	AP_TECS (AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms, const AP_Landing &landing, const SoaringController &soaring_controller)
	AP_TECS (const AP_TECS &other)=delete
AP_TECS &	operator= (const AP_TECS &)=delete
void	update_50hz (void)
void	update_pitch_throttle (int32_t hgt_dem_cm, int32_t EAS_dem_cm, enum AP_Vehicle::FixedWing::FlightStage flight_stage, float distance_beyond_land_wp, int32_t ptchMinCO_cd, int16_t throttle_nudge, float hgt_afe, float load_factor)
int32_t	get_throttle_demand (void)
int32_t	get_pitch_demand (void)
float	get_VXdot (void)
float	get_target_airspeed (void) const
float	get_max_climbrate (void) const
void	reset_pitch_I (void)
float	get_land_sinkrate (void) const
float	get_land_airspeed (void) const
float	get_height_rate_demand (void) const
void	set_path_proportion (float path_proportion)
void	set_pitch_max_limit (int8_t pitch_limit)
void	use_synthetic_airspeed (void)

Static Public Attributes
static const struct AP_Param::GroupInfo	var_info []

Private Member Functions
void	_update_speed (float load_factor)
void	_update_speed_demand (void)
void	_update_height_demand (void)
void	_detect_underspeed (void)
void	_update_energies (void)
void	_update_throttle_with_airspeed (void)
void	_update_throttle_without_airspeed (int16_t throttle_nudge)
float	_get_i_gain (void)
void	_detect_bad_descent (void)
void	_update_pitch (void)
void	_initialise_states (int32_t ptchMinCO_cd, float hgt_afe)
void	_update_STE_rate_lim (void)
float	timeConstant (void) const

Private Attributes
uint64_t	_update_50hz_last_usec
uint64_t	_update_speed_last_usec
uint64_t	_update_pitch_throttle_last_usec
AP_AHRS &	_ahrs
const AP_Vehicle::FixedWing &	aparm
const AP_Landing &	_landing
const SoaringController &	_soaring_controller
AP_Float	_hgtCompFiltOmega
AP_Float	_spdCompFiltOmega
AP_Float	_maxClimbRate
AP_Float	_minSinkRate
AP_Float	_maxSinkRate
AP_Float	_timeConst
AP_Float	_landTimeConst
AP_Float	_ptchDamp
AP_Float	_land_pitch_damp
AP_Float	_landDamp
AP_Float	_thrDamp
AP_Float	_land_throttle_damp
AP_Float	_integGain
AP_Float	_integGain_takeoff
AP_Float	_integGain_land
AP_Float	_vertAccLim
AP_Float	_rollComp
AP_Float	_spdWeight
AP_Float	_spdWeightLand
AP_Float	_landThrottle
AP_Float	_landAirspeed
AP_Float	_land_sink
AP_Float	_land_sink_rate_change
AP_Int8	_pitch_max
AP_Int8	_pitch_min
AP_Int8	_land_pitch_max
AP_Float	_maxSinkRate_approach
int8_t	_pitch_max_limit = 90
float	_height
float	_throttle_dem
float	_pitch_dem
float	_climb_rate
struct {
float   dd_height
float   height
}	_height_filter
float	_integDTAS_state
float	_TAS_state
float	_integTHR_state
float	_integSEB_state
float	_last_throttle_dem
float	_last_pitch_dem
float	_vel_dot
float	_EAS
float	_TASmax
float	_TASmin
float	_TAS_dem
float	_TAS_dem_last
float	_EAS_dem
float	_hgt_dem
float	_hgt_dem_in_old
float	_hgt_dem_adj
float	_hgt_dem_adj_last
float	_hgt_rate_dem
float	_hgt_dem_prev
float	_land_hgt_dem
float	_TAS_dem_adj
float	_TAS_rate_dem
float	_STEdotErrLast
union {
struct flags   _flags
uint8_t   _flags_byte
};
uint32_t	_underspeed_start_ms
enum AP_Vehicle::FixedWing::FlightStage	_flight_stage
float	_pitch_dem_unc
float	_STEdot_max
float	_STEdot_min
float	_THRmaxf
float	_THRminf
float	_PITCHmaxf
float	_PITCHminf
float	_SPE_dem
float	_SKE_dem
float	_SPEdot_dem
float	_SKEdot_dem
float	_SPE_est
float	_SKE_est
float	_SPEdot
float	_SKEdot
float	_STE_error
float	_DT
uint8_t	_flare_counter
float	hgt_dem_lag_filter_slew
float	_path_proportion
float	_distance_beyond_land_wp
struct {
float   SKE_weighting
float   SPE_error
float   SKE_error
float   SEB_delta
}	logging
AP_Int8	_use_synthetic_airspeed
bool	_use_synthetic_airspeed_once
AverageFilterFloat_Size5	_vdot_filter

Additional Inherited Members
Public Types inherited from AP_SpdHgtControl
enum	ControllerType { CONTROLLER_TECS = 1 }

Detailed Description

Definition at line 30 of file AP_TECS.h.

Constructor & Destructor Documentation

AP_TECS() [1/2]

AP_TECS::AP_TECS ( AP_AHRS &  ahrs, const AP_Vehicle::FixedWing &  parms, const AP_Landing &  landing, const SoaringController &  soaring_controller  )

inline

Definition at line 32 of file AP_TECS.h.

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AP_TECS() [2/2]

AP_TECS::AP_TECS ( const AP_TECS &  other )

delete

Member Function Documentation

_detect_bad_descent()

void AP_TECS::_detect_bad_descent ( void  )

private

Definition at line 741 of file AP_TECS.cpp.

Referenced by update_pitch_throttle().

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_detect_underspeed()

void AP_TECS::_detect_underspeed ( void  )

private

Definition at line 513 of file AP_TECS.cpp.

Referenced by update_pitch_throttle().

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_get_i_gain()

float AP_TECS::_get_i_gain ( void  )

private

Definition at line 688 of file AP_TECS.cpp.

Referenced by _update_pitch(), and _update_throttle_with_airspeed().

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_initialise_states()

void AP_TECS::_initialise_states ( int32_t  ptchMinCO_cd, float  hgt_afe  )

private

Definition at line 894 of file AP_TECS.cpp.

Referenced by update_pitch_throttle().

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_update_energies()

void AP_TECS::_update_energies ( void  )

private

Definition at line 546 of file AP_TECS.cpp.

Referenced by update_pitch_throttle().

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_update_height_demand()

void AP_TECS::_update_height_demand ( void  )

private

Definition at line 436 of file AP_TECS.cpp.

Referenced by update_pitch_throttle().

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_update_pitch()

void AP_TECS::_update_pitch ( void  )

private

Definition at line 771 of file AP_TECS.cpp.

Referenced by update_pitch_throttle().

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_update_speed()

void AP_TECS::_update_speed ( float  load_factor )

private

Definition at line 334 of file AP_TECS.cpp.

Referenced by update_pitch_throttle().

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_update_speed_demand()

void AP_TECS::_update_speed_demand ( void  )

private

Definition at line 394 of file AP_TECS.cpp.

Referenced by update_pitch_throttle().

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_update_STE_rate_lim()

void AP_TECS::_update_STE_rate_lim ( void  )

private

Definition at line 933 of file AP_TECS.cpp.

Referenced by update_pitch_throttle().

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_update_throttle_with_airspeed()

void AP_TECS::_update_throttle_with_airspeed ( void  )

private

Definition at line 586 of file AP_TECS.cpp.

Referenced by update_pitch_throttle().

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_update_throttle_without_airspeed()

void AP_TECS::_update_throttle_without_airspeed ( int16_t  throttle_nudge )

private

Definition at line 706 of file AP_TECS.cpp.

Referenced by update_pitch_throttle().

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get_height_rate_demand()

float AP_TECS::get_height_rate_demand ( void  ) const

inline

Definition at line 103 of file AP_TECS.h.

get_land_airspeed()

float AP_TECS::get_land_airspeed ( void  ) const

inlinevirtual

Implements AP_SpdHgtControl.

Definition at line 98 of file AP_TECS.h.

get_land_sinkrate()

float AP_TECS::get_land_sinkrate ( void  ) const

inlinevirtual

Implements AP_SpdHgtControl.

Definition at line 93 of file AP_TECS.h.

get_max_climbrate()

float AP_TECS::get_max_climbrate ( void  ) const

inlinevirtual

Implements AP_SpdHgtControl.

Definition at line 83 of file AP_TECS.h.

get_pitch_demand()

int32_t AP_TECS::get_pitch_demand ( void  )

inlinevirtual

Implements AP_SpdHgtControl.

Definition at line 68 of file AP_TECS.h.

get_target_airspeed()

float AP_TECS::get_target_airspeed ( void  ) const

inlinevirtual

Implements AP_SpdHgtControl.

Definition at line 78 of file AP_TECS.h.

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get_throttle_demand()

int32_t AP_TECS::get_throttle_demand ( void  )

inlinevirtual

Implements AP_SpdHgtControl.

Definition at line 62 of file AP_TECS.h.

get_VXdot()

float AP_TECS::get_VXdot ( void  )

inlinevirtual

Implements AP_SpdHgtControl.

Definition at line 73 of file AP_TECS.h.

operator=()

AP_TECS& AP_TECS::operator= ( const AP_TECS &  )

delete

Referenced by AP_TECS().

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reset_pitch_I()

void AP_TECS::reset_pitch_I ( void  )

inlinevirtual

Implements AP_SpdHgtControl.

Definition at line 88 of file AP_TECS.h.

set_path_proportion()

void AP_TECS::set_path_proportion ( float  path_proportion )

inlinevirtual

Implements AP_SpdHgtControl.

Definition at line 108 of file AP_TECS.h.

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set_pitch_max_limit()

void AP_TECS::set_pitch_max_limit ( int8_t  pitch_limit )

inline

Definition at line 113 of file AP_TECS.h.

timeConstant()

float AP_TECS::timeConstant ( void  ) const

private

Definition at line 569 of file AP_TECS.cpp.

Referenced by _update_height_demand(), _update_pitch(), _update_throttle_with_airspeed(), and update_pitch_throttle().

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update_50hz()

void AP_TECS::update_50hz ( void  )

virtual

Implements AP_SpdHgtControl.

Definition at line 261 of file AP_TECS.cpp.

Referenced by AP_TECS().

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update_pitch_throttle()

void AP_TECS::update_pitch_throttle ( int32_t  hgt_dem_cm, int32_t  EAS_dem_cm, enum AP_Vehicle::FixedWing::FlightStage  flight_stage, float  distance_beyond_land_wp, int32_t  ptchMinCO_cd, int16_t  throttle_nudge, float  hgt_afe, float  load_factor  )

virtual

Implements AP_SpdHgtControl.

Definition at line 942 of file AP_TECS.cpp.

Referenced by AP_TECS().

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use_synthetic_airspeed()

void AP_TECS::use_synthetic_airspeed ( void  )

inline

Definition at line 118 of file AP_TECS.h.

Member Data Documentation

@188

union { ... }

_ahrs

AP_AHRS& AP_TECS::_ahrs

private

Definition at line 136 of file AP_TECS.h.

Referenced by _initialise_states(), _update_pitch(), _update_speed(), _update_throttle_with_airspeed(), _update_throttle_without_airspeed(), get_target_airspeed(), update_50hz(), and update_pitch_throttle().

_climb_rate

float AP_TECS::_climb_rate

private

Definition at line 188 of file AP_TECS.h.

Referenced by _update_energies(), _update_height_demand(), _update_pitch(), update_50hz(), and update_pitch_throttle().

_distance_beyond_land_wp

float AP_TECS::_distance_beyond_land_wp

private

Definition at line 320 of file AP_TECS.h.

Referenced by _update_height_demand(), and update_pitch_throttle().

_DT

float AP_TECS::_DT

private

Definition at line 309 of file AP_TECS.h.

Referenced by _initialise_states(), _update_pitch(), _update_throttle_with_airspeed(), and update_pitch_throttle().

_EAS

float AP_TECS::_EAS

private

Definition at line 223 of file AP_TECS.h.

Referenced by _update_speed().

_EAS_dem

float AP_TECS::_EAS_dem

private

Definition at line 234 of file AP_TECS.h.

Referenced by _update_speed(), and update_pitch_throttle().

_flags

struct flags AP_TECS::_flags

Definition at line 270 of file AP_TECS.h.

Referenced by _detect_bad_descent(), _detect_underspeed(), _get_i_gain(), _initialise_states(), _update_height_demand(), _update_pitch(), _update_speed_demand(), _update_throttle_with_airspeed(), _update_throttle_without_airspeed(), timeConstant(), and update_pitch_throttle().

_flags_byte

uint8_t AP_TECS::_flags_byte

Definition at line 271 of file AP_TECS.h.

Referenced by update_pitch_throttle().

_flare_counter

uint8_t AP_TECS::_flare_counter

private

Definition at line 312 of file AP_TECS.h.

Referenced by _update_height_demand(), and _update_pitch().

_flight_stage

enum AP_Vehicle::FixedWing::FlightStage AP_TECS::_flight_stage

private

Definition at line 278 of file AP_TECS.h.

Referenced by _detect_underspeed(), _get_i_gain(), _initialise_states(), _update_pitch(), _update_throttle_with_airspeed(), and update_pitch_throttle().

_height

float AP_TECS::_height

private

Definition at line 179 of file AP_TECS.h.

Referenced by _detect_underspeed(), _update_energies(), update_50hz(), and update_pitch_throttle().

_height_filter

struct { ... } AP_TECS::_height_filter

Referenced by update_50hz().

_hgt_dem

float AP_TECS::_hgt_dem

private

Definition at line 237 of file AP_TECS.h.

Referenced by _update_height_demand(), and update_pitch_throttle().

_hgt_dem_adj

float AP_TECS::_hgt_dem_adj

private

Definition at line 239 of file AP_TECS.h.

Referenced by _detect_underspeed(), _initialise_states(), _update_energies(), _update_height_demand(), _update_pitch(), and update_pitch_throttle().

_hgt_dem_adj_last

float AP_TECS::_hgt_dem_adj_last

private

Definition at line 240 of file AP_TECS.h.

Referenced by _initialise_states(), and _update_height_demand().

_hgt_dem_in_old

float AP_TECS::_hgt_dem_in_old

private

Definition at line 238 of file AP_TECS.h.

Referenced by _initialise_states(), and _update_height_demand().

_hgt_dem_prev

float AP_TECS::_hgt_dem_prev

private

Definition at line 242 of file AP_TECS.h.

Referenced by _initialise_states(), and _update_height_demand().

_hgt_rate_dem

float AP_TECS::_hgt_rate_dem

private

Definition at line 241 of file AP_TECS.h.

Referenced by _update_energies(), _update_height_demand(), _update_pitch(), get_height_rate_demand(), and update_pitch_throttle().

_hgtCompFiltOmega

AP_Float AP_TECS::_hgtCompFiltOmega

private

Definition at line 147 of file AP_TECS.h.

Referenced by update_50hz().

_integDTAS_state

float AP_TECS::_integDTAS_state

private

Definition at line 202 of file AP_TECS.h.

Referenced by _update_speed().

_integGain

AP_Float AP_TECS::_integGain

private

Definition at line 159 of file AP_TECS.h.

Referenced by _get_i_gain().

_integGain_land

AP_Float AP_TECS::_integGain_land

private

Definition at line 161 of file AP_TECS.h.

Referenced by _get_i_gain().

_integGain_takeoff

AP_Float AP_TECS::_integGain_takeoff

private

Definition at line 160 of file AP_TECS.h.

Referenced by _get_i_gain().

_integSEB_state

float AP_TECS::_integSEB_state

private

Definition at line 211 of file AP_TECS.h.

Referenced by _initialise_states(), _update_height_demand(), _update_pitch(), reset_pitch_I(), and update_pitch_throttle().

_integTHR_state

float AP_TECS::_integTHR_state

private

Definition at line 208 of file AP_TECS.h.

Referenced by _initialise_states(), _update_throttle_with_airspeed(), and update_pitch_throttle().

_land_hgt_dem

float AP_TECS::_land_hgt_dem

private

Definition at line 243 of file AP_TECS.h.

Referenced by _update_height_demand().

_land_pitch_damp

AP_Float AP_TECS::_land_pitch_damp

private

Definition at line 155 of file AP_TECS.h.

Referenced by _update_pitch().

_land_pitch_max

AP_Int8 AP_TECS::_land_pitch_max

private

Definition at line 172 of file AP_TECS.h.

Referenced by update_pitch_throttle().

_land_sink

AP_Float AP_TECS::_land_sink

private

Definition at line 168 of file AP_TECS.h.

Referenced by _update_height_demand(), get_land_sinkrate(), and update_pitch_throttle().

_land_sink_rate_change

AP_Float AP_TECS::_land_sink_rate_change

private

Definition at line 169 of file AP_TECS.h.

Referenced by _update_height_demand().

_land_throttle_damp

AP_Float AP_TECS::_land_throttle_damp

private

Definition at line 158 of file AP_TECS.h.

Referenced by _update_throttle_with_airspeed().

_landAirspeed

AP_Float AP_TECS::_landAirspeed

private

Definition at line 167 of file AP_TECS.h.

Referenced by get_land_airspeed().

_landDamp

AP_Float AP_TECS::_landDamp

private

Definition at line 156 of file AP_TECS.h.

Referenced by _update_pitch().

_landing

const AP_Landing& AP_TECS::_landing

private

Definition at line 141 of file AP_TECS.h.

Referenced by _detect_underspeed(), _update_height_demand(), _update_pitch(), and update_pitch_throttle().

_landThrottle

AP_Float AP_TECS::_landThrottle

private

Definition at line 166 of file AP_TECS.h.

Referenced by _update_throttle_without_airspeed().

_landTimeConst

AP_Float AP_TECS::_landTimeConst

private

Definition at line 153 of file AP_TECS.h.

Referenced by timeConstant().

_last_pitch_dem

float AP_TECS::_last_pitch_dem

private

Definition at line 217 of file AP_TECS.h.

Referenced by _initialise_states(), and _update_pitch().

_last_throttle_dem

float AP_TECS::_last_throttle_dem

private

Definition at line 214 of file AP_TECS.h.

Referenced by _initialise_states(), and _update_throttle_with_airspeed().

_maxClimbRate

AP_Float AP_TECS::_maxClimbRate

private

Definition at line 149 of file AP_TECS.h.

Referenced by _update_height_demand(), _update_STE_rate_lim(), and get_max_climbrate().

_maxSinkRate

AP_Float AP_TECS::_maxSinkRate

private

Definition at line 151 of file AP_TECS.h.

Referenced by _update_height_demand().

_maxSinkRate_approach

AP_Float AP_TECS::_maxSinkRate_approach

private

Definition at line 173 of file AP_TECS.h.

Referenced by _update_height_demand().

_minSinkRate

AP_Float AP_TECS::_minSinkRate

private

Definition at line 150 of file AP_TECS.h.

Referenced by _update_STE_rate_lim().

_path_proportion

float AP_TECS::_path_proportion

private

Definition at line 318 of file AP_TECS.h.

Referenced by _update_pitch(), and set_path_proportion().

_pitch_dem

float AP_TECS::_pitch_dem

private

Definition at line 185 of file AP_TECS.h.

Referenced by _update_pitch(), _update_throttle_without_airspeed(), get_pitch_demand(), and update_pitch_throttle().

_pitch_dem_unc

float AP_TECS::_pitch_dem_unc

private

Definition at line 281 of file AP_TECS.h.

Referenced by _update_pitch().

_pitch_max

AP_Int8 AP_TECS::_pitch_max

private

Definition at line 170 of file AP_TECS.h.

Referenced by update_pitch_throttle().

_pitch_max_limit

int8_t AP_TECS::_pitch_max_limit = 90

private

Definition at line 176 of file AP_TECS.h.

Referenced by set_pitch_max_limit(), and update_pitch_throttle().

_pitch_min

AP_Int8 AP_TECS::_pitch_min

private

Definition at line 171 of file AP_TECS.h.

Referenced by update_pitch_throttle().

_PITCHmaxf

float AP_TECS::_PITCHmaxf

private

Definition at line 292 of file AP_TECS.h.

Referenced by _update_pitch(), _update_throttle_without_airspeed(), and update_pitch_throttle().

_PITCHminf

float AP_TECS::_PITCHminf

private

Definition at line 293 of file AP_TECS.h.

Referenced by _initialise_states(), _update_pitch(), _update_throttle_without_airspeed(), and update_pitch_throttle().

_ptchDamp

AP_Float AP_TECS::_ptchDamp

private

Definition at line 154 of file AP_TECS.h.

Referenced by _update_pitch().

_rollComp

AP_Float AP_TECS::_rollComp

private

Definition at line 163 of file AP_TECS.h.

Referenced by _update_throttle_with_airspeed(), and _update_throttle_without_airspeed().

_SKE_dem

float AP_TECS::_SKE_dem

private

Definition at line 297 of file AP_TECS.h.

Referenced by _update_energies(), _update_pitch(), and _update_throttle_with_airspeed().

_SKE_est

float AP_TECS::_SKE_est

private

Definition at line 301 of file AP_TECS.h.

Referenced by _update_energies(), _update_pitch(), and _update_throttle_with_airspeed().

_SKEdot

float AP_TECS::_SKEdot

private

Definition at line 303 of file AP_TECS.h.

Referenced by _detect_bad_descent(), _update_energies(), _update_pitch(), and _update_throttle_with_airspeed().

_SKEdot_dem

float AP_TECS::_SKEdot_dem

private

Definition at line 299 of file AP_TECS.h.

Referenced by _update_energies(), _update_pitch(), and _update_throttle_with_airspeed().

_soaring_controller

const SoaringController& AP_TECS::_soaring_controller

private

Definition at line 144 of file AP_TECS.h.

Referenced by _detect_bad_descent().

_spdCompFiltOmega

AP_Float AP_TECS::_spdCompFiltOmega

private

Definition at line 148 of file AP_TECS.h.

Referenced by _update_speed().

_spdWeight

AP_Float AP_TECS::_spdWeight

private

Definition at line 164 of file AP_TECS.h.

Referenced by _update_pitch().

_spdWeightLand

AP_Float AP_TECS::_spdWeightLand

private

Definition at line 165 of file AP_TECS.h.

Referenced by _update_pitch().

_SPE_dem

float AP_TECS::_SPE_dem

private

Definition at line 296 of file AP_TECS.h.

Referenced by _update_energies(), _update_pitch(), and _update_throttle_with_airspeed().

_SPE_est

float AP_TECS::_SPE_est

private

Definition at line 300 of file AP_TECS.h.

Referenced by _update_energies(), _update_pitch(), and _update_throttle_with_airspeed().

_SPEdot

float AP_TECS::_SPEdot

private

Definition at line 302 of file AP_TECS.h.

Referenced by _detect_bad_descent(), _update_energies(), _update_pitch(), and _update_throttle_with_airspeed().

_SPEdot_dem

float AP_TECS::_SPEdot_dem

private

Definition at line 298 of file AP_TECS.h.

Referenced by _update_energies(), _update_pitch(), and _update_throttle_with_airspeed().

_STE_error

float AP_TECS::_STE_error

private

Definition at line 306 of file AP_TECS.h.

Referenced by _detect_bad_descent(), and _update_throttle_with_airspeed().

_STEdot_max

float AP_TECS::_STEdot_max

private

Definition at line 284 of file AP_TECS.h.

Referenced by _update_speed_demand(), _update_STE_rate_lim(), _update_throttle_with_airspeed(), and _update_throttle_without_airspeed().

_STEdot_min

float AP_TECS::_STEdot_min

private

Definition at line 285 of file AP_TECS.h.

Referenced by _update_speed_demand(), _update_STE_rate_lim(), _update_throttle_with_airspeed(), and _update_throttle_without_airspeed().

_STEdotErrLast

float AP_TECS::_STEdotErrLast

private

Definition at line 254 of file AP_TECS.h.

Referenced by _update_throttle_with_airspeed().

_TAS_dem

float AP_TECS::_TAS_dem

private

Definition at line 230 of file AP_TECS.h.

Referenced by _initialise_states(), _update_speed(), _update_speed_demand(), and get_target_airspeed().

_TAS_dem_adj

float AP_TECS::_TAS_dem_adj

private

Definition at line 247 of file AP_TECS.h.

Referenced by _initialise_states(), _update_energies(), _update_speed_demand(), and update_pitch_throttle().

_TAS_dem_last

float AP_TECS::_TAS_dem_last

private

Definition at line 231 of file AP_TECS.h.

Referenced by _initialise_states(), and _update_speed_demand().

_TAS_rate_dem

float AP_TECS::_TAS_rate_dem

private

Definition at line 251 of file AP_TECS.h.

Referenced by _update_energies(), _update_speed_demand(), and update_pitch_throttle().

_TAS_state

float AP_TECS::_TAS_state

private

Definition at line 205 of file AP_TECS.h.

Referenced by _detect_underspeed(), _update_energies(), _update_pitch(), _update_speed(), _update_speed_demand(), and update_pitch_throttle().

_TASmax

float AP_TECS::_TASmax

private

Definition at line 226 of file AP_TECS.h.

Referenced by _update_speed(), _update_speed_demand(), and _update_throttle_with_airspeed().

_TASmin

float AP_TECS::_TASmin

private

Definition at line 227 of file AP_TECS.h.

Referenced by _detect_underspeed(), _update_speed(), _update_speed_demand(), and _update_throttle_with_airspeed().

_thrDamp

AP_Float AP_TECS::_thrDamp

private

Definition at line 157 of file AP_TECS.h.

Referenced by _update_throttle_with_airspeed().

_THRmaxf

float AP_TECS::_THRmaxf

private

Definition at line 288 of file AP_TECS.h.

Referenced by _detect_bad_descent(), _detect_underspeed(), _update_throttle_with_airspeed(), _update_throttle_without_airspeed(), and update_pitch_throttle().

_THRminf

float AP_TECS::_THRminf

private

Definition at line 289 of file AP_TECS.h.

Referenced by _update_throttle_with_airspeed(), _update_throttle_without_airspeed(), and update_pitch_throttle().

_throttle_dem

float AP_TECS::_throttle_dem

private

Definition at line 182 of file AP_TECS.h.

Referenced by _detect_bad_descent(), _detect_underspeed(), _update_throttle_with_airspeed(), _update_throttle_without_airspeed(), get_throttle_demand(), and update_pitch_throttle().

_timeConst

AP_Float AP_TECS::_timeConst

private

Definition at line 152 of file AP_TECS.h.

Referenced by timeConstant().

_underspeed_start_ms

uint32_t AP_TECS::_underspeed_start_ms

private

Definition at line 275 of file AP_TECS.h.

Referenced by _detect_underspeed().

_update_50hz_last_usec

uint64_t AP_TECS::_update_50hz_last_usec

private

Definition at line 127 of file AP_TECS.h.

Referenced by update_50hz().

_update_pitch_throttle_last_usec

uint64_t AP_TECS::_update_pitch_throttle_last_usec

private

Definition at line 133 of file AP_TECS.h.

Referenced by update_pitch_throttle().

_update_speed_last_usec

uint64_t AP_TECS::_update_speed_last_usec

private

Definition at line 130 of file AP_TECS.h.

Referenced by _update_speed().

_use_synthetic_airspeed

AP_Int8 AP_TECS::_use_synthetic_airspeed

private

Definition at line 330 of file AP_TECS.h.

Referenced by _update_speed(), and update_pitch_throttle().

_use_synthetic_airspeed_once

bool AP_TECS::_use_synthetic_airspeed_once

private

Definition at line 333 of file AP_TECS.h.

Referenced by _update_speed(), update_pitch_throttle(), and use_synthetic_airspeed().

_vdot_filter

AverageFilterFloat_Size5 AP_TECS::_vdot_filter

private

Definition at line 372 of file AP_TECS.h.

Referenced by update_50hz().

_vel_dot

float AP_TECS::_vel_dot

private

Definition at line 220 of file AP_TECS.h.

Referenced by _update_energies(), _update_speed(), get_VXdot(), update_50hz(), and update_pitch_throttle().

_vertAccLim

AP_Float AP_TECS::_vertAccLim

private

Definition at line 162 of file AP_TECS.h.

Referenced by _update_pitch().

aparm

const AP_Vehicle::FixedWing& AP_TECS::aparm

private

Definition at line 138 of file AP_TECS.h.

Referenced by _initialise_states(), _update_speed(), _update_throttle_with_airspeed(), _update_throttle_without_airspeed(), and update_pitch_throttle().

dd_height

float AP_TECS::dd_height

Definition at line 195 of file AP_TECS.h.

height

float AP_TECS::height

Definition at line 198 of file AP_TECS.h.

hgt_dem_lag_filter_slew

float AP_TECS::hgt_dem_lag_filter_slew

private

Definition at line 315 of file AP_TECS.h.

Referenced by _update_height_demand().

logging

struct { ... } AP_TECS::logging

Referenced by _update_pitch(), and update_pitch_throttle().

SEB_delta

float AP_TECS::SEB_delta

Definition at line 327 of file AP_TECS.h.

SKE_error

float AP_TECS::SKE_error

Definition at line 326 of file AP_TECS.h.

SKE_weighting

float AP_TECS::SKE_weighting

Definition at line 324 of file AP_TECS.h.

Referenced by _update_pitch().

SPE_error

float AP_TECS::SPE_error

Definition at line 325 of file AP_TECS.h.

var_info

const AP_Param::GroupInfo AP_TECS::var_info

static

Definition at line 123 of file AP_TECS.h.

Referenced by AP_TECS().

---

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

• libraries/AP_TECS/AP_TECS.h
• libraries/AP_TECS/AP_TECS.cpp