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hysteresis: we needed different hysteresis

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Sometimes, we only need a histeresis in one direction.
This commit is contained in:
Julian Oes
2016-07-17 16:03:51 +01:00
parent 401d807261
commit f365832c0b
3 changed files with 67 additions and 18 deletions
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src/modules/systemlib/hysteresis/hysteresis.cpp
+6 -5
View File
@@ -61,12 +61,13 @@ Hysteresis::set_state_and_update(const bool new_state)
void
Hysteresis::update()
{
if (_requested_state != _state) {
if (_requested_state != _state &&
hrt_elapsed_time(&_last_time_to_change_state) >= _hysteresis_time_us) {
_state = _requested_state;
if (hrt_elapsed_time(&_last_time_to_change_state) >= (_state ?
_hysteresis_time_from_true_us :
_hysteresis_time_from_false_us)) {
_state = _requested_state;
}
}
}
src/modules/systemlib/hysteresis/hysteresis.h
+13 -4
View File
@@ -48,16 +48,25 @@ namespace systemlib {
class Hysteresis
{
public:
Hysteresis(unsigned hysteresis_time_us, bool init_state) :
_hysteresis_time_us(hysteresis_time_us),
Hysteresis(bool init_state) :
_state(init_state),
_requested_state(init_state),
_hysteresis_time_from_true_us(0),
_hysteresis_time_from_false_us(0),
_last_time_to_change_state(0)
{}
~Hysteresis()
{}
void set_hysteresis_time_from(const bool from_state, const unsigned new_hysteresis_time_us) {
if (from_state == true) {
_hysteresis_time_from_true_us = new_hysteresis_time_us;
} else {
_hysteresis_time_from_false_us = new_hysteresis_time_us;
}
}
bool get_state() const {
return _state;
}
@@ -68,10 +77,10 @@ public:
private:
unsigned _hysteresis_time_us;
bool _state;
bool _requested_state;
unsigned _hysteresis_time_from_true_us;
unsigned _hysteresis_time_from_false_us;
hrt_abstime _last_time_to_change_state;
};