fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-06-28 13:20:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

mtecs: make sure dt is calculated before any control calculations

Browse Source
This commit is contained in:
Thomas Gubler
2014-03-27 22:12:01 +01:00
parent 0d526bddca
commit d102afba8b
2 changed files with 31 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/fw_pos_control_l1/mtecs/mTecs.cpp
+24 -7
View File
@@ -60,6 +60,7 @@ mTecs::mTecs() :
_pitchSp(0.0f),
timestampLastIteration(hrt_absolute_time()),
_firstIterationAfterReset(true),
dtCalculated(false),
_counter(0)
{
}
@@ -71,6 +72,9 @@ mTecs::~mTecs()
void mTecs::updateAltitudeSpeed(float flightPathAngle, float altitude, float altitudeSp, float airspeed, float airspeedSp)
{
/* time measurement */
updateTimeMeasurement();
float flightPathAngleSp = _controlAltitude.update(altitudeSp - altitude);
if (_counter % 10 == 0) {
warnx("***");
@@ -81,6 +85,9 @@ void mTecs::updateAltitudeSpeed(float flightPathAngle, float altitude, float alt
void mTecs::updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAngleSp, float airspeed, float airspeedSp) {
/* time measurement */
updateTimeMeasurement();
float accelerationLongitudinalSp = _controlAirSpeed.update(airspeedSp - airspeed);
if (_counter % 10 == 0) {
warnx("updateFlightPathAngleSpeed airspeedSp %.4f, airspeed %.4f, accelerationLongitudinalSp%.4f", (double)airspeedSp, (double)airspeed, (double)accelerationLongitudinalSp);
@@ -91,13 +98,7 @@ void mTecs::updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAn
void mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flightPathAngleSp, float airspeed, float accelerationLongitudinalSp)
{
/* time measurement */
float deltaTSeconds = 0.0f;
if (!_firstIterationAfterReset) {
hrt_abstime timestampNow = hrt_absolute_time();
deltaTSeconds = (float)(timestampNow - timestampLastIteration) * 1e-6f;
timestampLastIteration = timestampNow;
}
setDt(deltaTSeconds);
updateTimeMeasurement();
/* update parameters first */
updateParams();
@@ -147,6 +148,7 @@ void mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float fligh
/* clean up */
_firstIterationAfterReset = false;
dtCalculated = false;
_counter++;
}
@@ -159,5 +161,20 @@ void mTecs::resetIntegrators()
_firstIterationAfterReset = true;
}
void mTecs::updateTimeMeasurement()
{
if (!dtCalculated) {
float deltaTSeconds = 0.0f;
if (!_firstIterationAfterReset) {
hrt_abstime timestampNow = hrt_absolute_time();
deltaTSeconds = (float)(timestampNow - timestampLastIteration) * 1e-6f;
timestampLastIteration = timestampNow;
}
setDt(deltaTSeconds);
dtCalculated = true;
}
}
} /* namespace fwPosctrl */
src/modules/fw_pos_control_l1/mtecs/mTecs.h
+7 -1
View File
@@ -104,9 +104,15 @@ protected:
/* Time measurements */
hrt_abstime timestampLastIteration; /**< Saves the result of hrt_absolute_time() of the last iteration */
bool _firstIterationAfterReset; /**< True during the first iteration after a reset */
bool _firstIterationAfterReset; /**< True during the first iteration after a reset */
bool dtCalculated; /**< True if dt has been calculated in this iteration */
int _counter;
/*
* Measure and update the time step dt if this was not already done in the current iteration
*/
void updateTimeMeasurement();
};
} /* namespace fwPosctrl */