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fixed a problem where the heater was getting stuck on. This was due to the next on time being calculated as a negative time, thus causing it to not get rescheduled in the work_queue. Also removed some includes in the header file

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This commit is contained in:
Jake Dahl
2018-10-31 15:09:25 -06:00
committed by Lorenz Meier
parent 52fc56a61f
commit b01849ce56
2 changed files with 7 additions and 14 deletions
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src/drivers/heater/heater.cpp
+7 -8
View File
@@ -150,7 +150,7 @@ void Heater::cycle()
return;
}
int _controller_time_on_usec = 0;
int controller_time_on_usec = 0;
if (_heater_on) {
// Turn the heater off.
@@ -182,14 +182,14 @@ void Heater::cycle()
// Constrain the integrator value to no more than 25% of the duty cycle.
_integrator_value = math::constrain(_integrator_value, -0.25f, 0.25f);
_controller_time_on_usec = (int)((_p_feed_forward_value.get() + _proportional_value +
_integrator_value) * (float)_controller_period_usec);
controller_time_on_usec = (int)((_p_feed_forward_value.get() + _proportional_value +
_integrator_value) * (float)_controller_period_usec);
// Constrain the heater time within the allowable duty cycle.
_controller_time_on_usec = math::constrain(_controller_period_usec, 0, _controller_time_on_usec);
controller_time_on_usec = math::constrain(controller_time_on_usec, 0, _controller_period_usec);
// Filter the duty cycle value over a ~2 second time constant.
_duty_cycle = (0.05f * ((float)_controller_time_on_usec / (float)_controller_period_usec)) + (0.95f * _duty_cycle);
_duty_cycle = (0.05f * ((float)controller_time_on_usec / (float)_controller_period_usec)) + (0.95f * _duty_cycle);
// Turn the heater on.
_heater_on = true;
@@ -197,15 +197,14 @@ void Heater::cycle()
px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, 1);
}
// Schedule the next cycle.
if (_heater_on) {
work_queue(LPWORK, &_work, (worker_t)&Heater::cycle_trampoline, this,
USEC2TICK(_controller_time_on_usec));
USEC2TICK(controller_time_on_usec));
} else {
work_queue(LPWORK, &_work, (worker_t)&Heater::cycle_trampoline, this,
USEC2TICK(_controller_period_usec - _controller_time_on_usec));
USEC2TICK(_controller_period_usec - controller_time_on_usec));
}
}
src/drivers/heater/heater.h
-6
View File
@@ -41,16 +41,10 @@
#pragma once
#include <string.h>
#include <getopt.h>
#include <parameters/param.h>
#include <px4_workqueue.h>
#include <px4_module.h>
#include <px4_module_params.h>
#include <px4_config.h>
#include <px4_log.h>
#include <px4_getopt.h>
#include <uORB/uORB.h>