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hysteresis: remove dependency/side effect on time

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This commit is contained in:
Julian Oes
2019-05-27 09:57:50 +02:00
parent 7b9562e3b1
commit b29e5e3adb
8 changed files with 92 additions and 87 deletions
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src/modules/mc_pos_control/Takeoff/Takeoff.cpp
+2 -2
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@@ -45,9 +45,9 @@ void Takeoff::generateInitialRampValue(const float hover_thrust, float velocity_
}
void Takeoff::updateTakeoffState(const bool armed, const bool landed, const bool want_takeoff,
const float takeoff_desired_vz, const bool skip_takeoff)
const float takeoff_desired_vz, const bool skip_takeoff, const hrt_abstime &now_us)
{
_spoolup_time_hysteresis.set_state_and_update(armed);
_spoolup_time_hysteresis.set_state_and_update(armed, now_us);
switch (_takeoff_state) {
case TakeoffState::disarmed:
src/modules/mc_pos_control/Takeoff/Takeoff.hpp
+2 -2
View File
@@ -39,7 +39,7 @@
#pragma once
#include <systemlib/hysteresis/hysteresis.h>
#include <lib/hysteresis/hysteresis.h>
#include <drivers/drv_hrt.h>
using namespace time_literals;
@@ -76,7 +76,7 @@ public:
* @return true if setpoint has updated correctly
*/
void updateTakeoffState(const bool armed, const bool landed, const bool want_takeoff,
const float takeoff_desired_vz, const bool skip_takeoff);
const float takeoff_desired_vz, const bool skip_takeoff, const hrt_abstime &now_us);
/**
* Update and return the velocity constraint ramp value during takeoff.