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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/ManualSmoothingZ.cpp
+14 -14
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@@ -43,8 +43,8 @@ ManualSmoothingZ::ManualSmoothingZ(ModuleParams *parent, const float &vel, const
ModuleParams(parent),
_vel(vel), _stick(stick), _vel_sp_prev(vel)
{
_acc_state_dependent = _acc_max_up.get();
_max_acceleration = _acc_max_up.get();
_acc_state_dependent = _param_mpc_acc_up_max.get();
_max_acceleration = _param_mpc_acc_up_max.get();
}
void
@@ -77,7 +77,7 @@ ManualSmoothingZ::updateAcceleration(float &vel_sp, const float dt)
if ((_intention != ManualIntentionZ::brake) && (intention == ManualIntentionZ::brake)) {
// we start with lowest acceleration
_acc_state_dependent = _acc_max_down.get();
_acc_state_dependent = _param_mpc_acc_down_max.get();
// reset slew-rate: this ensures that there
// is no delay present when user demands to brake
@@ -89,13 +89,13 @@ ManualSmoothingZ::updateAcceleration(float &vel_sp, const float dt)
case ManualIntentionZ::brake: {
// limit jerk when braking to zero
float jerk = (_acc_max_up.get() - _acc_state_dependent) / dt;
float jerk = (_param_mpc_acc_up_max.get() - _acc_state_dependent) / dt;
if (jerk > _jerk_max.get()) {
_acc_state_dependent = _jerk_max.get() * dt + _acc_state_dependent;
if (jerk > _param_mpc_jerk_max.get()) {
_acc_state_dependent = _param_mpc_jerk_max.get() * dt + _acc_state_dependent;
} else {
_acc_state_dependent = _acc_max_up.get();
_acc_state_dependent = _param_mpc_acc_up_max.get();
}
break;
@@ -103,8 +103,8 @@ ManualSmoothingZ::updateAcceleration(float &vel_sp, const float dt)
case ManualIntentionZ::acceleration: {
_acc_state_dependent = (getMaxAcceleration() - _acc_max_down.get())
* fabsf(_stick) + _acc_max_down.get();
_acc_state_dependent = (getMaxAcceleration() - _param_mpc_acc_down_max.get())
* fabsf(_stick) + _param_mpc_acc_down_max.get();
break;
}
}
@@ -117,26 +117,26 @@ ManualSmoothingZ::setMaxAcceleration()
{
if (_stick < -FLT_EPSILON) {
// accelerating upward
_max_acceleration = _acc_max_up.get();
_max_acceleration = _param_mpc_acc_up_max.get();
} else if (_stick > FLT_EPSILON) {
// accelerating downward
_max_acceleration = _acc_max_down.get();
_max_acceleration = _param_mpc_acc_down_max.get();
} else {
// want to brake
if (fabsf(_vel_sp_prev) < FLT_EPSILON) {
// at rest
_max_acceleration = _acc_max_up.get();
_max_acceleration = _param_mpc_acc_up_max.get();
} else if (_vel_sp_prev < 0.0f) {
// braking downward
_max_acceleration = _acc_max_down.get();
_max_acceleration = _param_mpc_acc_down_max.get();
} else {
// braking upward
_max_acceleration = _acc_max_up.get();
_max_acceleration = _param_mpc_acc_up_max.get();
}
}
}