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AP_TECS: Add a separate stall speed parameter used for minimum speed scaling #27442

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merged 3 commits into from
Jul 23, 2024
Merged

AP_TECS: Add a separate stall speed parameter used for minimum speed scaling #27442

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3917e4f
AP_Vehicle: add stall speed parameter for plane
WickedShell Jul 9, 2024
709c624
ArduPlane: Add a stall speed parameter
WickedShell Jul 9, 2024
a725934
AP_TECS: Use aircraft stall speed
WickedShell Jul 3, 2024
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8 changes: 8 additions & 0 deletions ArduPlane/Parameters.cpp
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Expand Up @@ -296,6 +296,14 @@ const AP_Param::Info Plane::var_info[] = {
// @User: Standard
ASCALAR(airspeed_max, "AIRSPEED_MAX", AIRSPEED_FBW_MAX),

// @Param: AIRSPEED_STALL
// @DisplayName: Stall airspeed
// @Description: If stall prevention is enabled this speed is used to calculate the minimum airspeed while banking. If this is set to 0 then the stall speed is assumed to be the minimum airspeed speed. Typically set slightly higher then true stall speed. Value is as an indicated (calibrated/apparent) airspeed.
// @Units: m/s
// @Range: 5 75
// @User: Standard
ASCALAR(airspeed_stall, "AIRSPEED_STALL", 0),

// @Param: FBWB_ELEV_REV
// @DisplayName: Fly By Wire elevator reverse
// @Description: Reverse sense of elevator in FBWB and CRUISE modes. When set to 0 up elevator (pulling back on the stick) means to lower altitude. When set to 1, up elevator means to raise altitude.
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1 change: 1 addition & 0 deletions ArduPlane/Parameters.h
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Expand Up @@ -343,6 +343,7 @@ class Parameters {

k_param_mixing_offset,
k_param_dspoiler_rud_rate,
k_param_airspeed_stall,

k_param_logger = 253, // Logging Group

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6 changes: 5 additions & 1 deletion libraries/AP_TECS/AP_TECS.cpp
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Expand Up @@ -415,7 +415,11 @@ void AP_TECS::_update_speed(float DT)
if (aparm.stall_prevention) {
// when stall prevention is active we raise the minimum
// airspeed based on aerodynamic load factor
_TASmin *= _load_factor;
if (is_positive(aparm.airspeed_stall)) {
_TASmin = MAX(_TASmin, aparm.airspeed_stall*EAS2TAS*_load_factor);
} else {
_TASmin *= _load_factor;
}
}

if (_TASmax < _TASmin) {
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1 change: 1 addition & 0 deletions libraries/AP_Vehicle/AP_FixedWing.h
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Expand Up @@ -14,6 +14,7 @@ struct AP_FixedWing {
AP_Int16 airspeed_min;
AP_Int16 airspeed_max;
AP_Float airspeed_cruise;
AP_Float airspeed_stall;
AP_Float min_groundspeed;
AP_Int8 crash_detection_enable;
AP_Float roll_limit;
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