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attitude_fw delete unused and cleanup

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This commit is contained in:
Daniel Agar
2017-08-26 17:44:24 -04:00
parent fac292fef9
commit 25bd3ac5e6
12 changed files with 96 additions and 251 deletions
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attitude_fw/ecl_wheel_controller.cpp
+9 -21
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@@ -35,36 +35,26 @@
* @file ecl_wheel_controller.cpp
* Implementation of a simple PID wheel controller for heading tracking.
*
* Authors and acknowledgements in header.
* Authors and acknowledgments in header.
*/
#include "ecl_wheel_controller.h"
#include <stdint.h>
#include <float.h>
#include <geo/geo.h>
#include <ecl/ecl.h>
#include <mathlib/mathlib.h>
#include <systemlib/err.h>
#include <ecl/ecl.h>
ECL_WheelController::ECL_WheelController() :
ECL_Controller("wheel")
{
}
#include <geo/geo.h>
float ECL_WheelController::control_bodyrate(const struct ECL_ControlData &ctl_data)
{
/* Do not calculate control signal with bad inputs */
if (!(PX4_ISFINITE(ctl_data.body_z_rate) &&
PX4_ISFINITE(ctl_data.groundspeed) &&
PX4_ISFINITE(ctl_data.groundspeed_scaler))) {
if (!(ISFINITE(ctl_data.body_z_rate) &&
ISFINITE(ctl_data.groundspeed) &&
ISFINITE(ctl_data.groundspeed_scaler))) {
return math::constrain(_last_output, -1.0f, 1.0f);
}
/* get the usual dt estimate */
uint64_t dt_micros = ecl_elapsed_time(&_last_run);
_last_run = ecl_absolute_time();
float dt = (float)dt_micros * 1e-6f;
float dt = dt_micros * 1e-6f;
/* lock integral for long intervals */
bool lock_integrator = ctl_data.lock_integrator;
@@ -109,12 +99,11 @@ float ECL_WheelController::control_bodyrate(const struct ECL_ControlData &ctl_da
return math::constrain(_last_output, -1.0f, 1.0f);
}
float ECL_WheelController::control_attitude(const struct ECL_ControlData &ctl_data)
{
/* Do not calculate control signal with bad inputs */
if (!(PX4_ISFINITE(ctl_data.yaw_setpoint) &&
PX4_ISFINITE(ctl_data.yaw))) {
if (!(ISFINITE(ctl_data.yaw_setpoint) &&
ISFINITE(ctl_data.yaw))) {
return _rate_setpoint;
}
@@ -125,14 +114,13 @@ float ECL_WheelController::control_attitude(const struct ECL_ControlData &ctl_da
_rate_setpoint = yaw_error / _tc;
/* limit the rate */
if (_max_rate > 0.01f) {
if (_max_rate >= 0.0f) {
if (_rate_setpoint > 0.0f) {
_rate_setpoint = (_rate_setpoint > _max_rate) ? _max_rate : _rate_setpoint;
} else {
_rate_setpoint = (_rate_setpoint < -_max_rate) ? -_max_rate : _rate_setpoint;
}
}
return _rate_setpoint;