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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Lorenz Meier
129 lines
3.8 KiB
C++
129 lines
3.8 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2015 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file integrator.cpp
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*
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* A resettable integrator
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*
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* @author Lorenz Meier <lorenz@px4.io>
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*/
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#include "integrator.h"
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Integrator::Integrator(uint64_t auto_reset_interval, bool coning_compensation) :
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_auto_reset_interval(auto_reset_interval),
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_last_integration(0),
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_last_auto(0),
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_integral_auto(0.0f, 0.0f, 0.0f),
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_integral_read(0.0f, 0.0f, 0.0f),
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_last_val(0.0f, 0.0f, 0.0f),
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_last_delta(0.0f, 0.0f, 0.0f),
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_auto_callback(nullptr),
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_coning_comp_on(coning_compensation)
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{
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}
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Integrator::~Integrator()
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{
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}
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bool
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Integrator::put(uint64_t timestamp, math::Vector<3> &val, math::Vector<3> &integral, uint64_t &integral_dt)
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{
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bool auto_reset = false;
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if (_last_integration == 0) {
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/* this is the first item in the integrator */
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_last_integration = timestamp;
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_last_auto = timestamp;
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_last_val = val;
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return false;
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}
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// Integrate
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double dt = (double)(timestamp - _last_integration) / 1000000.0;
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math::Vector<3> i = (val + _last_val) * dt * 0.5f;
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// Apply coning compensation if required
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if (_coning_comp_on) {
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// Coning compensation derived by Paul Riseborough and Jonathan Challinger,
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// following:
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// Tian et al (2010) Three-loop Integration of GPS and Strapdown INS with Coning and Sculling Compensation
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// Available: http://www.sage.unsw.edu.au/snap/publications/tian_etal2010b.pdf
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i += ((_integral_auto + _last_delta * (1.0f / 6.0f)) % i) * 0.5f;
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}
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_integral_auto += i;
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_integral_read += i;
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_last_integration = timestamp;
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_last_val = val;
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_last_delta = i;
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if ((timestamp - _last_auto) > _auto_reset_interval) {
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if (_auto_callback) {
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/* call the callback */
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_auto_callback(timestamp, _integral_auto);
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}
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integral = _integral_auto;
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integral_dt = (timestamp - _last_auto);
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auto_reset = true;
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_last_auto = timestamp;
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_integral_auto(0) = 0.0f;
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_integral_auto(1) = 0.0f;
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_integral_auto(2) = 0.0f;
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}
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return auto_reset;
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}
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math::Vector<3>
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Integrator::read(bool auto_reset)
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{
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math::Vector<3> val = _integral_read;
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if (auto_reset) {
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_integral_read(0) = 0.0f;
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_integral_read(1) = 0.0f;
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_integral_read(2) = 0.0f;
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}
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return val;
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}
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