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sih: cleanup initializing variables in constructor (#26578)

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Matthias Grob 2026-03-02 23:22:35 +01:00 committed by GitHub
parent 764e621b63
commit 9cb3ea44fb
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2 changed files with 5 additions and 35 deletions
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22
src/modules/simulation/simulator_sih/sih.cpp
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@ -57,7 +57,9 @@ ModuleBase::Descriptor Sih::desc{task_spawn, custom_command, print_usage};
Sih::Sih() :
ModuleParams(nullptr)
{}
{
srand(1234); // initialize the random seed once before calling generate_wgn()
}
Sih::~Sih()
{
@ -70,7 +72,6 @@ void Sih::run()
_px4_accel.set_temperature(T1_C);
_px4_gyro.set_temperature(T1_C);
init_variables();
parameters_updated();
const hrt_abstime task_start = hrt_absolute_time();
@ -100,7 +101,6 @@ static uint64_t micros()
void Sih::lockstep_loop()
{
int rate = math::min(_imu_gyro_ratemax.get(), _imu_integration_rate.get());
// default to 400Hz (2500 us interval)
@ -284,22 +284,6 @@ void Sih::parameters_updated()
_T_TAU = _sih_thrust_tau.get();
}
void Sih::init_variables()
{
srand(1234); // initialize the random seed once before calling generate_wgn()
_lpos = Vector3f(0.0f, 0.0f, 0.0f);
_v_N = Vector3f(0.0f, 0.0f, 0.0f);
_v_N_dot = Vector3f(0.0f, 0.0f, 0.0f);
_p_E = Vector3d(Wgs84::equatorial_radius, 0.0, 0.0);
_v_E = Vector3f(0.0f, 0.0f, 0.0f);
_q = Quatf(1.0f, 0.0f, 0.0f, 0.0f);
_q_E = Quatf(Eulerf(0.f, -M_PI_2_F, 0.f));
_w_B = Vector3f(0.0f, 0.0f, 0.0f);
_u[0] = _u[1] = _u[2] = _u[3] = 0.0f;
}
void Sih::read_motors(const float dt)
{
actuator_outputs_s actuators_out;

18
src/modules/simulation/simulator_sih/sih.hpp
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@ -150,8 +150,6 @@ private:
static constexpr float RP = 0.1f; // radius of the propeller [m]
static constexpr float FLAP_MAX = M_PI_F / 12.0f; // 15 deg, maximum control surface deflection
void init_variables();
// read the motor signals outputted from the mixer
void read_motors(const float dt);
@ -218,8 +216,8 @@ private:
// Quantities in Earth-centered-Earth-fixed coordinates
matrix::Vector3f _Fa_E{}; // aerodynamic force in ECEF frame [N]
matrix::Vector3f _specific_force_E{};
matrix::Quatf _q_E{};
matrix::Vector3d _p_E{};
matrix::Quatf _q_E{matrix::Eulerf(0.f, -M_PI_2_F, 0.f)};
matrix::Vector3d _p_E{Wgs84::equatorial_radius, 0.0, 0.0};
matrix::Vector3f _v_E{};
matrix::Vector3f _v_E_dot{};
matrix::Dcmf _R_N2E; // local navigation to ECEF frame rotation matrix
@ -261,18 +259,6 @@ private:
AeroSeg(0.0225f, 0.110f, 0.0f, matrix::Vector3f(0.083f - TS_CM, 0.239f, 0.0f), 0.0f, TS_AR)
};
// AeroSeg _ts[NB_TS_SEG] = {
// AeroSeg(0.0225f, 0.110f, -90.0f, matrix::Vector3f(0.0f, -0.239f, TS_CM-0.083f), 0.0f, TS_AR),
// AeroSeg(0.0383f, 0.125f, -90.0f, matrix::Vector3f(0.0f, -0.208f, TS_CM-0.094f), 0.0f, TS_AR, 0.063f),
// AeroSeg(0.0884f, 0.148f, -90.0f, matrix::Vector3f(0.0f, -0.143f, TS_CM-0.111f), 0.0f, TS_AR, 0.063f, TS_RP),
// AeroSeg(0.0633f, 0.176f, -90.0f, matrix::Vector3f(0.0f, -0.068f, TS_CM-0.132f), 0.0f, TS_AR, 0.063f),
// AeroSeg(0.0750f, 0.231f, -90.0f, matrix::Vector3f(0.0f, 0.000f, TS_CM-0.173f), 0.0f, TS_AR),
// AeroSeg(0.0633f, 0.176f, -90.0f, matrix::Vector3f(0.0f, 0.068f, TS_CM-0.132f), 0.0f, TS_AR, 0.063f),
// AeroSeg(0.0884f, 0.148f, -90.0f, matrix::Vector3f(0.0f, 0.143f, TS_CM-0.111f), 0.0f, TS_AR, 0.063f, TS_RP),
// AeroSeg(0.0383f, 0.125f, -90.0f, matrix::Vector3f(0.0f, 0.208f, TS_CM-0.094f), 0.0f, TS_AR, 0.063f),
// AeroSeg(0.0225f, 0.110f, -90.0f, matrix::Vector3f(0.0f, 0.239f, TS_CM-0.083f), 0.0f, TS_AR)
// };
// parameters
MapProjection _lpos_ref{};
float _lpos_ref_alt;