diff --git a/src/lib/npfg/npfg.hpp b/src/lib/npfg/npfg.hpp index 5afedf8907..c36184ef96 100644 --- a/src/lib/npfg/npfg.hpp +++ b/src/lib/npfg/npfg.hpp @@ -85,7 +85,7 @@ public: float canRun(const vehicle_local_position_s &local_pos, bool is_wind_valid) const; /* - * Computes the lateral acceleration and airspeed references necessary to track + * Computes the lateral acceleration and true airspeed references necessary to track * a path in wind (including excess wind conditions). * * @param[in] curr_pos_local Current horizontal vehicle position in local coordinates [m] @@ -150,12 +150,12 @@ public: void setMaxTrackKeepingMinGroundSpeed(float min_gsp) { min_gsp_track_keeping_max_ = math::max(min_gsp, 0.0f); } /* - * Set the nominal airspeed reference [m/s]. + * Set the nominal airspeed reference (true airspeed) [m/s]. */ void setAirspeedNom(float airsp) { airspeed_nom_ = math::max(airsp, 0.1f); } /* - * Set the maximum airspeed reference [m/s]. + * Set the maximum airspeed reference (true airspeed) [m/s]. */ void setAirspeedMax(float airsp) { airspeed_max_ = math::max(airsp, 0.1f); } @@ -306,8 +306,8 @@ private: // ^disabling this parameter disables all other excess wind handling options, using only the nominal airspeed for reference // guidance settings - float airspeed_nom_{15.0f}; // nominal (desired) airspeed reference (generally equivalent to cruise optimized airspeed) [m/s] - float airspeed_max_{20.0f}; // maximum airspeed reference - the maximum achievable/allowed airspeed reference [m/s] + float airspeed_nom_{15.0f}; // nominal (desired) true airspeed reference (generally equivalent to cruise optimized airspeed) [m/s] + float airspeed_max_{20.0f}; // maximum true airspeed reference - the maximum achievable/allowed airspeed reference [m/s] float roll_time_const_{0.0f}; // autopilot roll response time constant [s] float min_gsp_desired_{0.0f}; // user defined miminum desired forward ground speed [m/s] float min_gsp_track_keeping_max_{5.0f}; // maximum, minimum forward ground speed demand from track keeping logic [m/s] @@ -341,8 +341,8 @@ private: * guidance outputs */ - float airspeed_ref_{15.0f}; // airspeed reference [m/s] - matrix::Vector2f air_vel_ref_{matrix::Vector2f{15.0f, 0.0f}}; // air velocity reference vector [m/s] + float airspeed_ref_{15.0f}; // true airspeed reference [m/s] + matrix::Vector2f air_vel_ref_{matrix::Vector2f{15.0f, 0.0f}}; // true air velocity reference vector [m/s] float lateral_accel_{0.0f}; // lateral acceleration reference [m/s^2] float lateral_accel_ff_{0.0f}; // lateral acceleration demand to maintain path curvature [m/s^2] @@ -358,7 +358,7 @@ private: * condition, path properties, and stability bounds. * * @param[in] ground_speed Vehicle ground speed [m/s] - * @param[in] airspeed Vehicle airspeed [m/s] + * @param[in] airspeed Vehicle true airspeed [m/s] * @param[in] wind_speed Wind speed [m/s] * @param[in] track_error Track error (magnitude) [m] * @param[in] path_curvature Path curvature at closest point on track [m^-1] @@ -384,7 +384,7 @@ private: /* * Cacluates an approximation of the wind factor (see [TODO: include citation]). * - * @param[in] airspeed Vehicle airspeed [m/s] + * @param[in] airspeed Vehicle true airspeed [m/s] * @param[in] wind_speed Wind speed [m/s] * @return Non-dimensional wind factor approximation */ @@ -395,7 +395,7 @@ private: * track keeping stability. * * @param[in] air_turn_rate The turn rate required to track the current path - * curvature at the current airspeed, in a no-wind condition [rad/s] + * curvature at the current true airspeed, in a no-wind condition [rad/s] * @param[in] wind_factor Non-dimensional wind factor (see [TODO: include citation]) * @return Period upper bound [s] */ @@ -408,7 +408,7 @@ private: * and a safety factor should be applied in addition to the returned value. * * @param[in] air_turn_rate The turn rate required to track the current path - * curvature at the current airspeed, in a no-wind condition [rad/s] + * curvature at the current true airspeed, in a no-wind condition [rad/s] * @param[in] wind_factor Non-dimensional wind factor (see [TODO: include citation]) * @return Period lower bound [s] */ @@ -493,8 +493,8 @@ private: /* * Determines a reference air velocity *without curvature compensation, but - * including "optimal" airspeed reference compensation in excess wind conditions. - * Nominal and maximum airspeed member variables must be set before using this method. + * including "optimal" true airspeed reference compensation in excess wind conditions. + * Nominal and maximum true airspeed member variables must be set before using this method. * * @param[in] wind_vel Wind velocity vector [m/s] * @param[in] bearing_vec Bearing vector @@ -512,7 +512,7 @@ private: * Projection of the air velocity vector onto the bearing line considering * a connected wind triangle. * - * @param[in] airspeed Vehicle airspeed [m/s] + * @param[in] airspeed Vehicle true airspeed [m/s] * @param[in] wind_cross_bearing 2D cross product of wind velocity and bearing vector [m/s] * @return Projection of air velocity vector on bearing vector [m/s] */ @@ -523,7 +523,7 @@ private: * * @param[in] wind_cross_bearing 2D cross product of wind velocity and bearing vector [m/s] * @param[in] wind_dot_bearing 2D dot product of wind velocity and bearing vector [m/s] - * @param[in] airspeed Vehicle airspeed [m/s] + * @param[in] airspeed Vehicle true airspeed [m/s] * @param[in] wind_speed Wind speed [m/s] * @return Binary bearing feasibility: 1 if feasible, 0 if infeasible */ @@ -549,7 +549,7 @@ private: * @param[in] wind_vel Wind velocity vector [m/s] * @param[in] bearing_vec Bearing vector * @param[in] wind_speed Wind speed [m/s] - * @param[in] airspeed Vehicle airspeed [m/s] + * @param[in] airspeed Vehicle true airspeed [m/s] * @return Air velocity vector [m/s] */ matrix::Vector2f infeasibleAirVelRef(const matrix::Vector2f &wind_vel, const matrix::Vector2f &bearing_vec, @@ -562,7 +562,7 @@ private: * * @param[in] wind_cross_bearing 2D cross product of wind velocity and bearing vector [m/s] * @param[in] wind_dot_bearing 2D dot product of wind velocity and bearing vector [m/s] - * @param[in] airspeed Vehicle airspeed [m/s] + * @param[in] airspeed Vehicle true airspeed [m/s] * @param[in] wind_speed Wind speed [m/s] * @return bearing feasibility */ @@ -577,7 +577,7 @@ private: * in direction of path * @param[in] ground_vel Vehicle ground velocity vector [m/s] * @param[in] wind_vel Wind velocity vector [m/s] - * @param[in] airspeed Vehicle airspeed [m/s] + * @param[in] airspeed Vehicle true airspeed [m/s] * @param[in] wind_speed Wind speed [m/s] * @param[in] signed_track_error Signed error to track at closest point (sign * determined by path normal direction) [m] @@ -594,7 +594,7 @@ private: * * @param[in] air_vel Vechile air velocity vector [m/s] * @param[in] air_vel_ref Reference air velocity vector [m/s] - * @param[in] airspeed Vehicle airspeed [m/s] + * @param[in] airspeed Vehicle true airspeed [m/s] * @return Lateral acceleration demand [m/s^2] */ float lateralAccel(const matrix::Vector2f &air_vel, const matrix::Vector2f &air_vel_ref,