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Fixed an issue with a local variable that should have been a member variable. Increased the P term to reduce rise time. Removed feedforward as it was not neccessary. Removed some custom commands that didn't serve much of a purpose.

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This commit is contained in:
Jake Dahl
2019-01-08 22:36:09 +01:00
committed by Lorenz Meier
parent 3b3752b753
commit 1699c577c3
4 changed files with 13 additions and 89 deletions
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src/drivers/heater/heater.cpp
+7 -50
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@@ -104,16 +104,6 @@ int Heater::custom_command(int argc, char *argv[])
return get_instance()->controller_period(argv);
}
// Display the heater on duty cycle as a percent.
if (strcmp(arg_v, "duty_cycle") == 0) {
return get_instance()->duty_cycle();
}
// Display/Set the heater driver feed forward value.
if (strcmp(arg_v, "feed_forward") == 0) {
return get_instance()->feed_forward(argv);
}
// Display/Set the heater driver integrator gain value.
if (strcmp(arg_v, "integrator") == 0) {
return get_instance()->integrator(argv);
@@ -134,11 +124,6 @@ int Heater::custom_command(int argc, char *argv[])
return get_instance()->temperature_setpoint(argv);
}
// Displays the IMU reported temperature.
if (strcmp(arg_v, "temp") == 0) {
return get_instance()->sensor_temperature();
}
get_instance()->print_usage("Unrecognized command.");
return PX4_OK;
}
@@ -150,8 +135,6 @@ void Heater::cycle()
return;
}
int controller_time_on_usec = 0;
if (_heater_on) {
// Turn the heater off.
px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, 0);
@@ -182,14 +165,13 @@ void Heater::cycle()
// Constrain the integrator value to no more than 25% of the duty cycle.
_integrator_value = math::constrain(_integrator_value, -0.25f, 0.25f);
controller_time_on_usec = (int)((_p_feed_forward_value.get() + _proportional_value +
_integrator_value) * (float)_controller_period_usec);
// Calculate the duty cycle. This is a value between 0 and 1.
float duty = _proportional_value + _integrator_value;
_controller_time_on_usec = (int)(duty * (float)_controller_period_usec);
// Constrain the heater time within the allowable duty cycle.
controller_time_on_usec = math::constrain(controller_time_on_usec, 0, _controller_period_usec);
// Filter the duty cycle value over a ~2 second time constant.
_duty_cycle = (0.05f * ((float)controller_time_on_usec / (float)_controller_period_usec)) + (0.95f * _duty_cycle);
_controller_time_on_usec = math::constrain(_controller_time_on_usec, 0, _controller_period_usec);
// Turn the heater on.
_heater_on = true;
@@ -200,11 +182,11 @@ void Heater::cycle()
// Schedule the next cycle.
if (_heater_on) {
work_queue(LPWORK, &_work, (worker_t)&Heater::cycle_trampoline, this,
USEC2TICK(controller_time_on_usec));
USEC2TICK(_controller_time_on_usec));
} else {
work_queue(LPWORK, &_work, (worker_t)&Heater::cycle_trampoline, this,
USEC2TICK(_controller_period_usec - controller_time_on_usec));
USEC2TICK(_controller_period_usec - _controller_time_on_usec));
}
}
@@ -214,23 +196,6 @@ void Heater::cycle_trampoline(void *argv)
obj->cycle();
}
float Heater::duty_cycle()
{
PX4_INFO("Average duty cycle: %3.1f%%", (double)(_duty_cycle * 100.f));
return _duty_cycle;
}
float Heater::feed_forward(char *argv[])
{
if (argv[1]) {
_p_feed_forward_value.set(atof(argv[1]));
}
PX4_INFO("Feed forward value: %2.5f", (double)_p_feed_forward_value.get());
return _p_feed_forward_value.get();
}
void Heater::initialize_topics()
{
// Get the total number of accelerometer instances.
@@ -335,8 +300,6 @@ This task can be started at boot from the startup scripts by setting SENS_EN_THE
PRINT_MODULE_USAGE_NAME("heater", "system");
PRINT_MODULE_USAGE_COMMAND_DESCR("controller_period", "Reports the heater driver cycle period value, (us), and sets it if supplied an argument.");
PRINT_MODULE_USAGE_COMMAND_DESCR("duty_cycle", "Reports the heater duty cycle (%).");
PRINT_MODULE_USAGE_COMMAND_DESCR("feed_forward", "Sets the feedforward value if supplied an argument and reports the current value.");
PRINT_MODULE_USAGE_COMMAND_DESCR("integrator", "Sets the integrator gain value if supplied an argument and reports the current value.");
PRINT_MODULE_USAGE_COMMAND_DESCR("proportional", "Sets the proportional gain value if supplied an argument and reports the current value.");
PRINT_MODULE_USAGE_COMMAND_DESCR("sensor_id", "Reports the current IMU the heater is temperature controlling.");
@@ -366,12 +329,6 @@ uint32_t Heater::sensor_id()
return _sensor_accel.device_id;
}
float Heater::sensor_temperature()
{
PX4_INFO("IMU temp: %3.3f", (double)_sensor_temperature);
return _sensor_temperature;
}
int Heater::start()
{
if (is_running()) {