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fix(fw_latlon_control): compensate TECS min airspeed for load factor (#27441)

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* fix(fw_latlon_control): compensate TECS min airspeed for load factor

TECS was given the load factor but not the minimum airspeed, derived
from the performance model.

TECS itself does the eas/tas conversion (altitude compensation) but not
load factor or weight compensation, which is the responsibility of the
performance model.

Use set_equivalent_airspeed_min to update the latter, compensated for
load factor, whenever attitude updates. Currently it is only called on
param change, so TECS has a min airspeed based on outdated load factor
and flap setpoint.

* fix(fw_latlon_control): do not update tecs min airspeed on param update

As we are updating it on every attitude sample now we can and should
remove this -- as this calculates the load factor based on the attitude
setpoint but the newly added continuous update is based on the actual
attitude, the two would conflict and introduce spikes.
This commit is contained in:
Balduin
2026-05-27 14:40:54 +02:00
committed by GitHub
parent 9720b797aa
commit fb4f564f69
1 changed files with 6 additions and 2 deletions
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src/modules/fw_lateral_longitudinal_control/FwLateralLongitudinalControl.cpp
+6 -2
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@@ -95,7 +95,6 @@ FwLateralLongitudinalControl::parameters_update()
_tecs.set_max_sink_rate(_param_fw_t_sink_max.get());
_tecs.set_min_sink_rate(_performance_model.getMinimumSinkRate(_air_density));
_tecs.set_equivalent_airspeed_trim(_performance_model.getCalibratedTrimAirspeed());
_tecs.set_equivalent_airspeed_min(_performance_model.getMinimumCalibratedAirspeed(getLoadFactor(), _flaps_setpoint));
_tecs.set_equivalent_airspeed_max(_performance_model.getMaximumCalibratedAirspeed());
_tecs.set_throttle_damp(_param_fw_t_thr_damping.get());
_tecs.set_integrator_gain_throttle(_param_fw_t_thr_integ.get());
@@ -608,9 +607,14 @@ void FwLateralLongitudinalControl::updateAttitude() {
_long_control_state.pitch_rad = euler_angles.theta();
_yaw = euler_angles.psi();
// load factor due to banking
const float load_factor_from_bank_angle = 1.0f / max(cosf(euler_angles.phi()), FLT_EPSILON);
// Used to compensate for higher induced drag during banking
_tecs.set_load_factor(load_factor_from_bank_angle);
// Used to give underspeed mitigation the correct minimum airspeed
_tecs.set_equivalent_airspeed_min(
_performance_model.getMinimumCalibratedAirspeed(load_factor_from_bank_angle, _flaps_setpoint)
);
}
}