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improve end to end control latency measurement (#9388)

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This commit is contained in:
Daniel Agar
2018-05-02 03:03:32 -04:00
committed by GitHub
parent edea1b65cd
commit 977ab4e7b8
25 changed files with 132 additions and 64 deletions
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src/modules/vtol_att_control/standard.cpp
+4 -2
View File
@@ -398,7 +398,8 @@ void Standard::update_fw_state()
void Standard::fill_actuator_outputs()
{
// multirotor controls
_actuators_out_0->timestamp = _actuators_mc_in->timestamp;
_actuators_out_0->timestamp = hrt_absolute_time();
_actuators_out_0->timestamp_sample = _actuators_mc_in->timestamp_sample;
// roll
_actuators_out_0->control[actuator_controls_s::INDEX_ROLL] =
@@ -415,7 +416,8 @@ void Standard::fill_actuator_outputs()
// fixed wing controls
_actuators_out_1->timestamp = _actuators_fw_in->timestamp;
_actuators_out_1->timestamp = hrt_absolute_time();
_actuators_out_1->timestamp_sample = _actuators_fw_in->timestamp_sample;
if (_vtol_schedule.flight_mode != MC_MODE) {
// roll
src/modules/vtol_att_control/tailsitter.cpp
+6 -6
View File
@@ -271,9 +271,14 @@ void Tailsitter::update_fw_state()
*/
void Tailsitter::fill_actuator_outputs()
{
_actuators_out_0->timestamp = hrt_absolute_time();
_actuators_out_0->timestamp_sample = _actuators_mc_in->timestamp_sample;
_actuators_out_1->timestamp = hrt_absolute_time();
_actuators_out_1->timestamp_sample = _actuators_fw_in->timestamp_sample;
switch (_vtol_mode) {
case ROTARY_WING:
_actuators_out_0->timestamp = _actuators_mc_in->timestamp;
_actuators_out_0->control[actuator_controls_s::INDEX_ROLL] = _actuators_mc_in->control[actuator_controls_s::INDEX_ROLL];
_actuators_out_0->control[actuator_controls_s::INDEX_PITCH] =
_actuators_mc_in->control[actuator_controls_s::INDEX_PITCH];
@@ -281,8 +286,6 @@ void Tailsitter::fill_actuator_outputs()
_actuators_out_0->control[actuator_controls_s::INDEX_THROTTLE] =
_actuators_mc_in->control[actuator_controls_s::INDEX_THROTTLE];
_actuators_out_1->timestamp = _actuators_mc_in->timestamp;
if (_params->elevons_mc_lock) {
_actuators_out_1->control[0] = 0;
_actuators_out_1->control[1] = 0;
@@ -299,7 +302,6 @@ void Tailsitter::fill_actuator_outputs()
case FIXED_WING:
// in fixed wing mode we use engines only for providing thrust, no moments are generated
_actuators_out_0->timestamp = _actuators_fw_in->timestamp;
_actuators_out_0->control[actuator_controls_s::INDEX_ROLL] = 0;
_actuators_out_0->control[actuator_controls_s::INDEX_PITCH] = 0;
_actuators_out_0->control[actuator_controls_s::INDEX_YAW] = 0;
@@ -319,8 +321,6 @@ void Tailsitter::fill_actuator_outputs()
case TRANSITION_TO_FW:
case TRANSITION_TO_MC:
// in transition engines are mixed by weight (BACK TRANSITION ONLY)
_actuators_out_0->timestamp = _actuators_mc_in->timestamp;
_actuators_out_1->timestamp = _actuators_mc_in->timestamp;
_actuators_out_0->control[actuator_controls_s::INDEX_ROLL] = _actuators_mc_in->control[actuator_controls_s::INDEX_ROLL]
* _mc_roll_weight;
_actuators_out_0->control[actuator_controls_s::INDEX_PITCH] =
src/modules/vtol_att_control/tiltrotor.cpp
+6 -2
View File
@@ -336,7 +336,9 @@ void Tiltrotor::waiting_on_tecs()
*/
void Tiltrotor::fill_actuator_outputs()
{
_actuators_out_0->timestamp = _actuators_mc_in->timestamp;
_actuators_out_0->timestamp = hrt_absolute_time();
_actuators_out_0->timestamp_sample = _actuators_mc_in->timestamp_sample;
_actuators_out_0->control[actuator_controls_s::INDEX_ROLL] = _actuators_mc_in->control[actuator_controls_s::INDEX_ROLL]
* _mc_roll_weight;
_actuators_out_0->control[actuator_controls_s::INDEX_PITCH] =
@@ -359,7 +361,9 @@ void Tiltrotor::fill_actuator_outputs()
_actuators_mc_in->control[actuator_controls_s::INDEX_THROTTLE];
}
_actuators_out_1->timestamp = _actuators_fw_in->timestamp;
_actuators_out_1->timestamp = hrt_absolute_time();
_actuators_out_1->timestamp_sample = _actuators_fw_in->timestamp_sample;
_actuators_out_1->control[actuator_controls_s::INDEX_ROLL] =
-_actuators_fw_in->control[actuator_controls_s::INDEX_ROLL];
_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] =