sensor drivers: Add integrator stub for delta angles

2026-07-03 08:30:34 +08:00 · 2015-03-22 21:20:11 -07:00
parent a01ca427b0
commit 62a4f91ed8
1 changed files with 139 additions and 0 deletions
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+/****************************************************************************
+ *
+ *   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file integrator.h
+ *
+ * A resettable integrator
+ *
+ * @author Lorenz Meier <lorenz@px4.io>
+ */
+
+ #pragma once
+
+class Integrator {
+public:
+	Integrator(uint64_t auto_reset_interval = 0);
+	virtual ~Integrator();
+
+	/**
+	 * Put an item into the integral.
+	 *
+	 * @param val		Item to put
+	 * @return		true if putting the item triggered an integral reset
+	 *			and the integral should be published
+	 */
+	bool			put(uint64_t timestamp, float val);
+
+	/**
+	 * Get the current integral value
+	 *
+	 * @return		the integral since the last auto-reset
+	 */
+	float			get() { return _integral_auto; }
+
+	/**
+	 * Read from the integral
+	 *
+	 * @param auto_reset	Reset the integral to zero on read
+	 * @return		the integral since the last read-reset
+	 */
+	float			read(bool auto_reset);
+
+private:
+	uint64_t _auto_reset_interval;		/**< the interval after which the content will be published and the integrator reset */
+	uint64_t _last_integration;		/**< timestamp of the last integration step */
+	uint64_t _last_auto;			/**< last auto-announcement of integral value */
+	float _integral_auto;			/**< the integrated value which auto-resets after _auto_reset_interval */
+	float _integral_last_read;		/**< the integrated value since the last read */
+	& _auto_callback;			/**< the function callback for auto-reset */
+
+	/* we don't want this class to be copied */
+	Integrator(const Integrator&);
+	Integrator operator=(const Integrator&);
+};
+
+Integrator(auto_callback = nullptr, uint64_t auto_reset_interval = 0) :
+	_auto_reset_interval(4000 /* 250 Hz */),
+	_last_integration(0),
+	_integral_auto(0.0f),
+	_integral_last_read(0.0f),
+	_auto_callback(auto_callback)
+{
+
+}
+
+~Integrator()
+{
+
+}
+
+bool
+Integrator::put(uint64_t timestamp, float val)
+{
+	if (_last_integration == 0) {
+		/* this is the first item in the integrator */
+		_last_integration = timestamp;
+		_last_auto = timestamp;
+		return false;
+	}
+
+	float dt = (_last_integration - timestamp) / 1000000.0f;
+
+	float i = dt * val;
+
+	_integral_auto += i;
+	_integral_last_read += i;
+
+	_last_integration = timestamp;
+
+	if (_auto_callback &&
+		((_last_integration - _last_auto) > _auto_reset_interval)) {
+		/* call the callback */
+		_auto_callback(timestamp, _integral_auto);
+		_last_auto = timestamp;
+		_integral_auto = 0.0f;
+	}
+}
+
+// XXX this should interpolate
+float
+Integrator::read(bool auto_reset)
+{
+	float val = _integral_read;
+	if (auto_reset) {
+		_integral_read = 0.0f;
+	}
+
+	return val;
+}