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Parameter update - Rename variables in lib

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using paramter_update.py script
This commit is contained in:
bresch
2019-04-03 15:38:50 +02:00
committed by Matthias Grob
parent ec5da55107
commit b14446f0e5
40 changed files with 245 additions and 231 deletions
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src/lib/FlightTasks/tasks/Utility/ManualSmoothingXY.cpp
+12 -12
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@@ -46,8 +46,8 @@ ManualSmoothingXY::ManualSmoothingXY(ModuleParams *parent, const Vector2f &vel)
ModuleParams(parent), _vel_sp_prev(vel)
{
_acc_state_dependent = _acc_xy_max.get();
_jerk_state_dependent = _jerk_max.get();
_acc_state_dependent = _param_mpc_acc_hor.get();
_jerk_state_dependent = _param_mpc_jerk_max.get();
}
void
@@ -134,17 +134,17 @@ ManualSmoothingXY::_setStateAcceleration(const Vector2f &vel_sp, const Vector2f
} else if (intention != _intention) {
// start the brake with lowest acceleration which
// makes stopping smoother
_acc_state_dependent = _dec_xy_min.get();
_acc_state_dependent = _param_mpc_dec_hor_slow.get();
// Adjust jerk based on current velocity. This ensures
// that the vehicle will stop much quicker at large speed but
// very slow at low speed.
_jerk_state_dependent = 1e6f; // default
if (_jerk_max.get() > _jerk_min.get() && _jerk_min.get() > FLT_EPSILON) {
if (_param_mpc_jerk_max.get() > _param_mpc_jerk_min.get() && _param_mpc_jerk_min.get() > FLT_EPSILON) {
_jerk_state_dependent = math::min((_jerk_max.get() - _jerk_min.get())
/ _vel_max * vel.length() + _jerk_min.get(), _jerk_max.get());
_jerk_state_dependent = math::min((_param_mpc_jerk_max.get() - _param_mpc_jerk_min.get())
/ _vel_max * vel.length() + _param_mpc_jerk_min.get(), _param_mpc_jerk_max.get());
}
// User wants to brake smoothly but does NOT want the vehicle to
@@ -154,14 +154,14 @@ ManualSmoothingXY::_setStateAcceleration(const Vector2f &vel_sp, const Vector2f
}
/* limit jerk when braking to zero */
float jerk = (_acc_hover.get() - _acc_state_dependent) / dt;
float jerk = (_param_mpc_acc_hor_max.get() - _acc_state_dependent) / dt;
if (jerk > _jerk_state_dependent) {
_acc_state_dependent = _jerk_state_dependent * dt
+ _acc_state_dependent;
} else {
_acc_state_dependent = _acc_hover.get();
_acc_state_dependent = _param_mpc_acc_hor_max.get();
}
break;
@@ -174,19 +174,19 @@ ManualSmoothingXY::_setStateAcceleration(const Vector2f &vel_sp, const Vector2f
// Because previous setpoint is equal to current setpoint,
// slewrate will have no effect. Nonetheless, just set
// acceleration to maximum.
_acc_state_dependent = _acc_hover.get();
_acc_state_dependent = _param_mpc_acc_hor_max.get();
break;
}
case Intention::acceleration: {
// Limit acceleration linearly based on velocity setpoint.
_acc_state_dependent = (_acc_xy_max.get() - _dec_xy_min.get())
/ _vel_max * vel_sp.length() + _dec_xy_min.get();
_acc_state_dependent = (_param_mpc_acc_hor.get() - _param_mpc_dec_hor_slow.get())
/ _vel_max * vel_sp.length() + _param_mpc_dec_hor_slow.get();
break;
}
case Intention::deceleration: {
_acc_state_dependent = _dec_xy_min.get();
_acc_state_dependent = _param_mpc_dec_hor_slow.get();
break;
}
}