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FlightTaskManual: Smooth flight integration: replace all "dt"s with the local _deltatime

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Matthias Grob 2017-09-26 15:11:59 +02:00 committed by Beat Küng
parent 1f65717292
commit 0d8d24e36d
1 changed files with 11 additions and 11 deletions
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22
src/lib/FlightTasks/tasks/FlightTaskManual.hpp
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@ -202,33 +202,33 @@ private:
math::LowPassFilter2p _filter_manual_pitch;
math::LowPassFilter2p _filter_manual_roll;
void vel_sp_slewrate(float dt, matrix::Vector3f &_vel_sp)
void vel_sp_slewrate(matrix::Vector3f &_vel_sp)
{
matrix::Vector2f vel_sp_xy(_vel_sp(0), _vel_sp(1));
matrix::Vector2f vel_sp_prev_xy(_vel_sp_prev(0), _vel_sp_prev(1));
matrix::Vector2f vel_xy(_velocity(0), _velocity(1));
matrix::Vector2f acc_xy = (vel_sp_xy - vel_sp_prev_xy) / dt;
matrix::Vector2f acc_xy = (vel_sp_xy - vel_sp_prev_xy) / _deltatime;
/* limit total horizontal acceleration */
if (acc_xy.length() > _acceleration_state_dependent_xy) {
vel_sp_xy = _acceleration_state_dependent_xy * acc_xy.normalized() * dt + vel_sp_prev_xy;
vel_sp_xy = _acceleration_state_dependent_xy * acc_xy.normalized() * _deltatime + vel_sp_prev_xy;
_vel_sp(0) = vel_sp_xy(0);
_vel_sp(1) = vel_sp_xy(1);
}
/* limit vertical acceleration */
float acc_z = (_vel_sp(2) - _vel_sp_prev(2)) / dt;
float acc_z = (_vel_sp(2) - _vel_sp_prev(2)) / _deltatime;
float max_acc_z;
max_acc_z = (acc_z < 0.0f) ? -_acceleration_state_dependent_z : _acceleration_state_dependent_z;
if (fabsf(acc_z) > fabsf(max_acc_z)) {
_vel_sp(2) = max_acc_z * dt + _vel_sp_prev(2);
_vel_sp(2) = max_acc_z * _deltatime + _vel_sp_prev(2);
}
}
void set_manual_acceleration_xy(matrix::Vector2f &stick_xy, const float dt)
void set_manual_acceleration_xy(matrix::Vector2f &stick_xy)
{
/*
@ -383,10 +383,10 @@ private:
case brake: {
/* limit jerk when braking to zero */
float jerk = (_acceleration_hor_max.get() - _acceleration_state_dependent_xy) / dt;
float jerk = (_acceleration_hor_max.get() - _acceleration_state_dependent_xy) / _deltatime;
if (jerk > _manual_jerk_limit_xy) {
_acceleration_state_dependent_xy = _manual_jerk_limit_xy * dt + _acceleration_state_dependent_xy;
_acceleration_state_dependent_xy = _manual_jerk_limit_xy * _deltatime + _acceleration_state_dependent_xy;
} else {
_acceleration_state_dependent_xy = _acceleration_hor_max.get();
@ -437,7 +437,7 @@ private:
}
}
void set_manual_acceleration_z(float &max_acceleration, const float stick_z, const float dt)
void set_manual_acceleration_z(float &max_acceleration, const float stick_z)
{
/* in manual altitude control apply acceleration limit based on stick input
@ -480,10 +480,10 @@ private:
if (_user_intention_z == brake) {
/* limit jerk when braking to zero */
float jerk = (_acceleration_z_max_up.get() - _acceleration_state_dependent_z) / dt;
float jerk = (_acceleration_z_max_up.get() - _acceleration_state_dependent_z) / _deltatime;
if (jerk > _manual_jerk_limit_z) {
_acceleration_state_dependent_z = _manual_jerk_limit_z * dt + _acceleration_state_dependent_z;
_acceleration_state_dependent_z = _manual_jerk_limit_z * _deltatime + _acceleration_state_dependent_z;
} else {
_acceleration_state_dependent_z = _acceleration_z_max_up.get();