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cs_check: minimise hrt_absolute_time calls

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This commit is contained in:
Balduin
2025-07-14 16:58:47 +02:00
parent 7edf7f8631
commit e47d3331fd
2 changed files with 32 additions and 40 deletions
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src/modules/control_allocator/ControlAllocator.cpp
+25 -33
View File
@@ -335,6 +335,10 @@ ControlAllocator::Run()
return;
}
// Guard against too small (< 0.2ms) and too large (> 20ms) dt's.
const hrt_abstime now = hrt_absolute_time();
const float dt = math::constrain(((now - _last_run) / 1e6f), 0.0002f, 0.02f);
{
vehicle_status_s vehicle_status;
@@ -343,7 +347,7 @@ ControlAllocator::Run()
_armed = vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED;
if (_armed) {
preflight_check_abort();
preflight_check_abort(now);
}
ActuatorEffectiveness::FlightPhase flight_phase{ActuatorEffectiveness::FlightPhase::HOVER_FLIGHT};
@@ -379,11 +383,7 @@ ControlAllocator::Run()
}
}
preflight_check_handle_command();
// Guard against too small (< 0.2ms) and too large (> 20ms) dt's.
const hrt_abstime now = hrt_absolute_time();
const float dt = math::constrain(((now - _last_run) / 1e6f), 0.0002f, 0.02f);
preflight_check_handle_command(now);
bool do_update = false;
vehicle_torque_setpoint_s vehicle_torque_setpoint;
@@ -432,7 +432,7 @@ ControlAllocator::Run()
}
}
preflight_check_update_state();
preflight_check_update_state(now);
preflight_check_overwrite_torque_sp(c);
for (int i = 0; i < _num_control_allocation; ++i) {
@@ -442,7 +442,7 @@ ControlAllocator::Run()
// Do allocation
_control_allocation[i]->allocate();
preflight_check_handle_tilt_control();
preflight_check_handle_tilt_control(now);
_actuator_effectiveness->allocateAuxilaryControls(dt, i, _control_allocation[i]->_actuator_sp); //flaps and spoilers
_actuator_effectiveness->updateSetpoint(c[i], i, _control_allocation[i]->_actuator_sp,
@@ -474,7 +474,7 @@ ControlAllocator::Run()
perf_end(_loop_perf);
}
void ControlAllocator::preflight_check_handle_command()
void ControlAllocator::preflight_check_handle_command(hrt_abstime now)
{
vehicle_command_s vehicle_command;
@@ -485,9 +485,7 @@ void ControlAllocator::preflight_check_handle_command()
if (vehicle_command.command == vehicle_command_s::VEHICLE_CMD_DO_PREFLIGHT_CS_CHECK) {
if (!_armed) {
// currently this does not check prearmed status. if not prearmed, it will just do nothing.
// should we output some sort of mild warning in that case?
preflight_check_start(vehicle_command);
preflight_check_start(vehicle_command, now);
result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_IN_PROGRESS;
} else {
@@ -495,18 +493,17 @@ void ControlAllocator::preflight_check_handle_command()
PX4_INFO("Control surface preflight check rejected (armed)");
}
preflight_check_send_ack(result);
preflight_check_send_ack(result, now);
}
}
}
void ControlAllocator::preflight_check_start(vehicle_command_s &cmd)
void ControlAllocator::preflight_check_start(vehicle_command_s &cmd, hrt_abstime now)
{
// If one is running, abort it. Depending on the use case we may prefer
// to instead "silently" overwrite the value.
// If already running, abort it. this is only to send the correct ack.
if (_preflight_check_running) {
preflight_check_abort();
preflight_check_abort(now);
}
int axis = (uint8_t) lroundf(cmd.param1);
@@ -515,15 +512,12 @@ void ControlAllocator::preflight_check_start(vehicle_command_s &cmd)
_preflight_check_running = true;
_preflight_check_axis = axis;
_preflight_check_input = input;
_preflight_check_started = hrt_absolute_time();
_preflight_check_started = now;
_last_preflight_check_command = cmd;
}
void ControlAllocator::preflight_check_send_ack(uint8_t result)
void ControlAllocator::preflight_check_send_ack(uint8_t result, hrt_abstime now)
{
hrt_abstime now = hrt_absolute_time();
if (_last_preflight_check_command.from_external) {
vehicle_command_ack_s command_ack{};
command_ack.timestamp = now;
@@ -539,32 +533,30 @@ void ControlAllocator::preflight_check_send_ack(uint8_t result)
_preflight_check_last_ack = now;
}
void ControlAllocator::preflight_check_abort()
void ControlAllocator::preflight_check_abort(hrt_abstime now)
{
_preflight_check_running = false;
preflight_check_send_ack(vehicle_command_ack_s::VEHICLE_CMD_RESULT_CANCELLED);
preflight_check_send_ack(vehicle_command_ack_s::VEHICLE_CMD_RESULT_CANCELLED, now);
}
void ControlAllocator::preflight_check_finish()
void ControlAllocator::preflight_check_finish(hrt_abstime now)
{
_preflight_check_running = false;
preflight_check_send_ack(vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
preflight_check_send_ack(vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED, now);
}
void ControlAllocator::preflight_check_update_state()
void ControlAllocator::preflight_check_update_state(hrt_abstime now)
{
if (_preflight_check_running) {
hrt_abstime now = hrt_absolute_time();
if (now - _preflight_check_started >= PREFLIGHT_CHECK_DURATION) {
// alternative: never stop it here and instead let the GS send a stop message?
preflight_check_finish();
preflight_check_finish(now);
}
if (now - _preflight_check_last_ack >= PREFLIGHT_CHECK_ACK_PERIOD) {
preflight_check_send_ack(vehicle_command_ack_s::VEHICLE_CMD_RESULT_IN_PROGRESS);
preflight_check_send_ack(vehicle_command_ack_s::VEHICLE_CMD_RESULT_IN_PROGRESS, now);
}
}
}
@@ -607,7 +599,7 @@ void ControlAllocator::preflight_check_overwrite_torque_sp(matrix::Vector<float,
}
}
void ControlAllocator::preflight_check_handle_tilt_control()
void ControlAllocator::preflight_check_handle_tilt_control(hrt_abstime now)
{
bool is_tiltrotor = _effectiveness_source_id == EffectivenessSource::TILTROTOR_VTOL;
@@ -623,7 +615,7 @@ void ControlAllocator::preflight_check_handle_tilt_control()
} else {
// Commanded collective tilt axis but the vehicle is not a tiltrotor. Abort
_preflight_check_running = false;
preflight_check_send_ack(vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED);
preflight_check_send_ack(vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED, now);
}
}
src/modules/control_allocator/ControlAllocator.hpp
+7 -7
View File
@@ -145,13 +145,13 @@ private:
void publish_actuator_controls();
void preflight_check_overwrite_torque_sp(matrix::Vector<float, NUM_AXES> (&c)[ActuatorEffectiveness::MAX_NUM_MATRICES]);
void preflight_check_handle_command();
void preflight_check_update_state();
void preflight_check_handle_tilt_control();
void preflight_check_start(vehicle_command_s &cmd);
void preflight_check_send_ack(uint8_t result);
void preflight_check_abort();
void preflight_check_finish();
void preflight_check_handle_command(hrt_abstime now);
void preflight_check_update_state(hrt_abstime now);
void preflight_check_handle_tilt_control(hrt_abstime now);
void preflight_check_start(vehicle_command_s &cmd, hrt_abstime now);
void preflight_check_send_ack(uint8_t result, hrt_abstime now);
void preflight_check_abort(hrt_abstime now);
void preflight_check_finish(hrt_abstime now);
AllocationMethod _allocation_method_id{AllocationMethod::NONE};
ControlAllocation *_control_allocation[ActuatorEffectiveness::MAX_NUM_MATRICES] {}; ///< class for control allocation calculations