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AP_TECS: inhibit raising TAS_dem during flare #27126

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AP_TECS: inhibit raising TAS_dem during flare #27126

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16 changes: 11 additions & 5 deletions libraries/AP_TECS/AP_TECS.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -458,8 +458,8 @@ void AP_TECS::_update_speed(float DT)

void AP_TECS::_update_speed_demand(void)
{
if (_options & OPTION_DESCENT_SPEEDUP) {
// Allow demanded speed to go to maximum when descending at maximum descent rate
if ((_options & OPTION_DESCENT_SPEEDUP) && (_sink_fraction > 0.0f) && !_landing.is_flaring()) {
// Allow demanded speed to go to maximum when descending at maximum descent rate
_TAS_dem = _TAS_dem + (_TASmax - _TAS_dem) * _sink_fraction;
}

Expand Down Expand Up @@ -598,6 +598,8 @@ void AP_TECS::_update_height_demand(void)
_hgt_dem_rate_ltd = _height;
_hgt_dem_in_prev = _height;

_sink_fraction = 0.0f; // do not add any additional sink/airspeed while flaring

if (!_flare_initialised) {
_flare_hgt_dem_adj = _hgt_dem;
_flare_hgt_dem_ideal = _hgt_afe;
Expand Down Expand Up @@ -1094,8 +1096,9 @@ void AP_TECS::_update_pitch(void)
// @Field: KI: Pitch demand kinetic energy integral
// @Field: pmin: Pitch min
// @Field: pmax: Pitch max
AP::logger().WriteStreaming("TEC2","TimeUS,PEW,KEW,EBD,EBE,EBDD,EBDE,EBDDT,Imin,Imax,I,KI,pmin,pmax",
"Qfffffffffffff",
// @Field: SF: Sink Fraction
AP::logger().WriteStreaming("TEC2","TimeUS,PEW,KEW,EBD,EBE,EBDD,EBDE,EBDDT,Imin,Imax,I,KI,pmin,pmax,SF",
"Qffffffffffffff",
AP_HAL::micros64(),
(double)SPE_weighting,
(double)_SKE_weighting,
Expand All @@ -1109,7 +1112,8 @@ void AP_TECS::_update_pitch(void)
(double)_integSEBdot,
(double)_integKE,
(double)_PITCHminf,
(double)_PITCHmaxf);
(double)_PITCHmaxf,
(double)_sink_fraction);
}
#endif
}
Expand Down Expand Up @@ -1152,6 +1156,7 @@ void AP_TECS::_initialise_states(int32_t ptchMinCO_cd, float hgt_afe)

_max_climb_scaler = 1.0f;
_max_sink_scaler = 1.0f;
_sink_fraction = 0.0f;

const float fc = 1.0f / (M_2PI * _timeConst);
_pitch_demand_lpf.set_cutoff_frequency(fc);
Expand All @@ -1176,6 +1181,7 @@ void AP_TECS::_initialise_states(int32_t ptchMinCO_cd, float hgt_afe)

_max_climb_scaler = 1.0f;
_max_sink_scaler = 1.0f;
_sink_fraction = 0.0f;

_pitch_demand_lpf.reset(_ahrs.get_pitch());
_pitch_measured_lpf.reset(_ahrs.get_pitch());
Expand Down
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