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RpmControl: maximum rpm outliers are now caught by RpmCapture

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This commit is contained in:
Matthias Grob
2024-12-16 16:17:12 +01:00
parent ddd410e9d8
commit 2772ae7e0e
1 changed files with 1 additions and 3 deletions
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src/modules/control_allocator/ActuatorEffectiveness/RpmControl.hpp
+1 -3
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@@ -85,9 +85,8 @@ public:
_timestamp_last_update = now;
const bool rpm_measurement_timeout = (now - _timestamp_last_rpm_measurement) < 1_s;
const bool no_excessive_rpm = _rpm_estimate < RPM_MAX_VALUE;
if (rpm_measurement_timeout && no_excessive_rpm) {
if (rpm_measurement_timeout) {
const float gain_scale = math::max((_spoolup_progress - .8f) * 5.f, 0.f) * 1e-3f;
_pid.setGains(_param_ca_heli_rpm_p.get() * gain_scale, _param_ca_heli_rpm_i.get() * gain_scale, 0.f);
@@ -104,7 +103,6 @@ public:
}
private:
static constexpr float RPM_MAX_VALUE = 1800.f;
uORB::Subscription _rpm_sub{ORB_ID(rpm)};
float _rpm_estimate{0.f};