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AP_TECS: remove unneccessary sqrtf in Phi calculations #28731

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AP_TECS: remove unneccessary sqrtf in Phi calculations #28731

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1566fef
AP_TECS: remove unneccessary sqrtf in Phi calculations
peterbarker Nov 25, 2024
4bccf5c
AP_TECS: correct comment explaining roll-induced-drag scaling
peterbarker Nov 25, 2024
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12 changes: 6 additions & 6 deletions libraries/AP_TECS/AP_TECS.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -751,10 +751,10 @@ void AP_TECS::_update_throttle_with_airspeed(void)
const float nomThr = aparm.throttle_cruise * 0.01f;
const Matrix3f &rotMat = _ahrs.get_rotation_body_to_ned();
// Use the demanded rate of change of total energy as the feed-forward demand, but add
// additional component which scales with (1/cos(bank angle) - 1) to compensate for induced
// additional component which scales with (1/(cos(bank angle)**2) - 1) to compensate for induced
// drag increase during turns.
const float cosPhi = sqrtf((rotMat.a.y*rotMat.a.y) + (rotMat.b.y*rotMat.b.y));
STEdot_dem = STEdot_dem + _rollComp * (1.0f/constrain_float(cosPhi * cosPhi, 0.1f, 1.0f) - 1.0f);
const float cosPhi_squared = (rotMat.a.y*rotMat.a.y) + (rotMat.b.y*rotMat.b.y);
STEdot_dem = STEdot_dem + _rollComp * (1.0f/constrain_float(cosPhi_squared, 0.1f, 1.0f) - 1.0f);
const float ff_throttle = nomThr + STEdot_dem / K_thr2STE;

// Calculate PD + FF throttle
Expand Down Expand Up @@ -905,10 +905,10 @@ void AP_TECS::_update_throttle_without_airspeed(int16_t throttle_nudge, float pi
// Calculate additional throttle for turn drag compensation including throttle nudging
const Matrix3f &rotMat = _ahrs.get_rotation_body_to_ned();
// Use the demanded rate of change of total energy as the feed-forward demand, but add
// additional component which scales with (1/cos(bank angle) - 1) to compensate for induced
// additional component which scales with (1/(cos(bank angle)**2) - 1) to compensate for induced
// drag increase during turns.
float cosPhi = sqrtf((rotMat.a.y*rotMat.a.y) + (rotMat.b.y*rotMat.b.y));
float STEdot_dem = _rollComp * (1.0f/constrain_float(cosPhi * cosPhi, 0.1f, 1.0f) - 1.0f);
const float cosPhi_squared = (rotMat.a.y*rotMat.a.y) + (rotMat.b.y*rotMat.b.y);
float STEdot_dem = _rollComp * (1.0f/constrain_float(cosPhi_squared, 0.1f, 1.0f) - 1.0f);
_throttle_dem = _throttle_dem + STEdot_dem / (_STEdot_max - _STEdot_min) * (_THRmaxf - _THRminf);

constrain_throttle();
Expand Down
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