Esempio n. 1
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/**
 * Directly calculate true airspeed
 *
 * Note that the true airspeed is NOT the groundspeed, because of the effects of wind
 *
 * @param total_pressure pressure inside the pitot/prandtl tube
 * @param static_pressure pressure at the side of the tube/airplane
 * @param temperature_celsius air temperature in degrees celcius
 * @return true airspeed in m/s
 */
float calc_true_airspeed(float total_pressure, float static_pressure, float temperature_celsius)
{
	float density = get_air_density(static_pressure, temperature_celsius);

	if (density < 0.0001f || !isfinite(density)) {
		density = CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C;
	}

	float pressure_difference = total_pressure - static_pressure;

	if (pressure_difference > 0) {
		return sqrtf((2.0f*(pressure_difference)) / density);
	} else {
		return -sqrtf((2.0f*fabsf(pressure_difference)) / density);
	}
}
Esempio n. 2
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/**
 * Calculate indicated airspeed.
 *
 * Note that the indicated airspeed is not the true airspeed because it
 * lacks the air density compensation. Use the calc_true_airspeed functions to get
 * the true airspeed.
 *
 * @param differential_pressure total_ pressure - static pressure
 * @return indicated airspeed in m/s
 */
float calc_indicated_airspeed_corrected(enum AIRSPEED_PITOT_MODEL pmodel, enum AIRSPEED_SENSOR_MODEL smodel,
					float tube_len, float differential_pressure, float pressure_ambient, float temperature_celsius)
{

	// air density in kg/m3
	double rho_air = get_air_density(pressure_ambient, temperature_celsius);

	double dp = fabsf(differential_pressure);
	// additional dp through pitot tube
	float dp_pitot;
	float dp_tube;
	float dv;

	switch (smodel) {

	case AIRSPEED_SENSOR_MODEL_MEMBRANE: {
			dp_pitot = 0.0f;
			dp_tube = 0.0f;
			dv = 0.0f;
		}
		break;

	case AIRSPEED_SENSOR_MODEL_SDP3X: {
			// flow through sensor
			double flow_SDP33 = (300.805 - 300.878 / (0.00344205 * pow(dp, 0.68698) + 1)) * 1.29 / rho_air;

			// for too small readings the compensation might result in a negative flow which causes numerical issues
			if (flow_SDP33 < 0.0) {
				flow_SDP33 = 0.0;
			}

			switch (pmodel) {
			case AIRSPEED_PITOT_MODEL_HB:
				dp_pitot = 28557670.0 - 28557670.0 / (1 + pow((flow_SDP33 / 5027611.0), 1.227924));
				break;

			default:
				dp_pitot = 0.0f;
				break;
			}

			// pressure drop through tube
			dp_tube = flow_SDP33 * 0.000746124 * (double)tube_len * rho_air;

			// speed at pitot-tube tip due to flow through sensor
			dv = 0.0331582 * flow_SDP33;
		}
		break;

	default: {
			dp_pitot = 0.0f;
			dp_tube = 0.0f;
			dv = 0.0f;
		}
		break;
	}

	// if (!PX4_ISFINITE(dp_tube)) {
	// 	dp_tube = 0.0f;
	// }

	// if (!PX4_ISFINITE(dp_pitot)) {
	// 	dp_pitot = 0.0f;
	// }

	// if (!PX4_ISFINITE(dv)) {
	// 	dv = 0.0f;
	// }

	// sum of all pressure drops
	float dp_tot = (float)dp + dp_tube + dp_pitot;

	// computed airspeed without correction for inflow-speed at tip of pitot-tube
	float airspeed_uncorrected = sqrtf(2 * dp_tot / CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C);

	// corrected airspeed
	float airspeed_corrected = airspeed_uncorrected + dv;

	// return result with correct sign
	return (differential_pressure > 0.0f) ? airspeed_corrected : -airspeed_corrected;
}
Esempio n. 3
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/**
 * Calculate true airspeed from indicated airspeed.
 *
 * Note that the true airspeed is NOT the groundspeed, because of the effects of wind
 *
 * @param speed_indicated current indicated airspeed
 * @param pressure_ambient pressure at the side of the tube/airplane
 * @param temperature_celsius air temperature in degrees celcius
 * @return true airspeed in m/s
 */
float calc_true_airspeed_from_indicated(float speed_indicated, float pressure_ambient, float temperature_celsius)
{
	return speed_indicated * sqrtf(CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C / get_air_density(pressure_ambient,
				       temperature_celsius));
}
Esempio n. 4
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/**
 * @brief Directly calculate true airspeed
 *
 * Please note that the true airspeed is NOT the groundspeed, because of the effects of wind
 *
 * @parem pressure_front pressure inside the pitot/prandl tube
 * @param pressure_ambient pressure at the side of the tube/airplane
 * @param temperature air temperature in degrees celcius
 * @return true airspeed in m/s
 */
float calc_true_airspeed(float pressure_front, float pressure_ambient, float temperature)
{
	return sqrt((2.0f*(pressure_front - pressure_ambient))/get_air_density(pressure_ambient, temperature));
}
Esempio n. 5
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/**
 * @brief Calculate true airspeed from indicated airspeed
 *
 * Please note that the true airspeed is NOT the groundspeed, because of the effects of wind
 *
 * @parem speed current indicated airspeed
 * @param pressure_ambient pressure at the side of the tube/airplane
 * @param temperature air temperature in degrees celcius
 * @return true airspeed in m/s
 */
float calc_true_airspeed_from_indicated(float speed, float pressure_ambient, float temperature)
{
	return speed * sqrt(air_density_sea_level/get_air_density(pressure_ambient, temperature));
}