mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-29 17:00:34 +08:00
Daniel Agar
31f3a21849
- bring in PX4/ecl#795 "EKF: Improve covariance prediction stability" - the ecl/EKF filter update period has changed from 8 ms to 10 ms - change default integration period 4000 us -> 2500 us (aligns with new EKF filter update period)
94 lines
3.9 KiB
C++
94 lines
3.9 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2015-2018 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.h
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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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* @author Julian Oes <julian@oes.ch>
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*/
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#pragma once
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#include <mathlib/mathlib.h>
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#include <matrix/math.hpp>
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class Integrator
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{
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public:
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Integrator(uint32_t auto_reset_interval = 2500 /* 400 Hz */, bool coning_compensation = false);
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~Integrator() = default;
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/**
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* Put an item into the integral.
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*
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* @param timestamp Timestamp of the current value.
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* @param val Item to put.
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* @param integral Current integral in case the integrator did reset, else the value will not be modified
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* @param integral_dt Get the dt in us of the current integration (only if reset).
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* @return true if putting the item triggered an integral reset and the integral should be
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* published.
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*/
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bool put(const uint64_t ×tamp, const matrix::Vector3f &val, matrix::Vector3f &integral, uint32_t &integral_dt);
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/**
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* Set auto reset interval during runtime. This won't reset the integrator.
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*
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* @param auto_reset_interval New reset time interval for the integrator (+- 10%).
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*/
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void set_autoreset_interval(uint32_t auto_reset_interval) { _auto_reset_interval = 0.90f * auto_reset_interval; }
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private:
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uint32_t _auto_reset_interval{0}; /**< the interval after which the content will be published
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and the integrator reset, 0 if no auto-reset */
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uint64_t _last_integration_time{0}; /**< timestamp of the last integration step */
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uint64_t _last_reset_time{0}; /**< last auto-announcement of integral value */
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matrix::Vector3f _alpha{0.0f, 0.0f, 0.0f}; /**< integrated value before coning corrections are applied */
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matrix::Vector3f _last_alpha{0.0f, 0.0f, 0.0f}; /**< previous value of _alpha */
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matrix::Vector3f _beta{0.0f, 0.0f, 0.0f}; /**< accumulated coning corrections */
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matrix::Vector3f _last_val{0.0f, 0.0f, 0.0f}; /**< previous input */
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matrix::Vector3f _last_delta_alpha{0.0f, 0.0f, 0.0f}; /**< integral from previous previous sampling interval */
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bool _coning_comp_on{false}; /**< true to turn on coning corrections */
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/* Do a reset.
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*
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* @param integral_dt Get the dt in us of the current integration.
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*/
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void _reset(uint32_t &integral_dt);
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};
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