mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-15 15:07:36 +08:00
Daniel Agar
175 lines
3.6 KiB
C++
175 lines
3.6 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2015-2018 PX4 Development Team. All rights reserved.
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions
|
|
* are met:
|
|
*
|
|
* 1. Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* 2. Redistributions in binary form must reproduce the above copyright
|
|
* notice, this list of conditions and the following disclaimer in
|
|
* the documentation and/or other materials provided with the
|
|
* distribution.
|
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
|
* used to endorse or promote products derived from this software
|
|
* without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
****************************************************************************/
|
|
|
|
/**
|
|
* @file mavlink_simple_analyzer.cpp
|
|
*
|
|
* @author Achermann Florian <acfloria@ethz.ch>
|
|
*/
|
|
|
|
#include "mavlink_simple_analyzer.h"
|
|
|
|
#include <float.h>
|
|
|
|
#include <px4_log.h>
|
|
#include <px4_defines.h>
|
|
|
|
SimpleAnalyzer::SimpleAnalyzer(Mode mode, float window) :
|
|
_window(window),
|
|
_mode(mode)
|
|
{
|
|
reset();
|
|
}
|
|
|
|
void SimpleAnalyzer::reset()
|
|
{
|
|
_n = 0;
|
|
|
|
switch (_mode) {
|
|
case AVERAGE:
|
|
_result = 0.0f;
|
|
|
|
break;
|
|
|
|
case MIN:
|
|
_result = FLT_MAX;
|
|
|
|
break;
|
|
|
|
case MAX:
|
|
_result = FLT_MIN;
|
|
|
|
break;
|
|
|
|
default:
|
|
PX4_ERR("SimpleAnalyzer: Unknown mode.");
|
|
}
|
|
}
|
|
|
|
void SimpleAnalyzer::add_value(float val, float update_rate)
|
|
{
|
|
switch (_mode) {
|
|
case AVERAGE:
|
|
_result = (_result * _n + val) / (_n + 1u);
|
|
|
|
break;
|
|
|
|
case MIN:
|
|
if (val < _result) {
|
|
_result = val;
|
|
}
|
|
|
|
break;
|
|
|
|
case MAX:
|
|
if (val > _result) {
|
|
_result = val;
|
|
}
|
|
|
|
break;
|
|
}
|
|
|
|
// if we get more measurements than n_max so the exponential moving average
|
|
// is computed
|
|
if ((_n < update_rate * _window) && (update_rate > 1.0f)) {
|
|
_n++;
|
|
}
|
|
|
|
// value sanity checks
|
|
if (!PX4_ISFINITE(_result)) {
|
|
PX4_DEBUG("SimpleAnalyzer: Result is not finite, reset the analyzer.");
|
|
reset();
|
|
}
|
|
}
|
|
|
|
bool SimpleAnalyzer::valid() const
|
|
{
|
|
return _n > 0u;
|
|
}
|
|
|
|
float SimpleAnalyzer::get() const
|
|
{
|
|
return _result;
|
|
}
|
|
|
|
float SimpleAnalyzer::get_scaled(float scalingfactor) const
|
|
{
|
|
return get() * scalingfactor;
|
|
}
|
|
|
|
void SimpleAnalyzer::check_limits(float &x, float min, float max) const
|
|
{
|
|
if (x > max) {
|
|
x = max;
|
|
|
|
} else if (x < min) {
|
|
x = min;
|
|
}
|
|
}
|
|
|
|
void SimpleAnalyzer::int_round(float &x) const
|
|
{
|
|
if (x < 0) {
|
|
x -= 0.5f;
|
|
|
|
} else {
|
|
x += 0.5f;
|
|
}
|
|
}
|
|
|
|
void convert_limit_safe(float in, uint16_t &out)
|
|
{
|
|
if (in > UINT16_MAX) {
|
|
out = UINT16_MAX;
|
|
|
|
} else if (in < 0) {
|
|
out = 0;
|
|
|
|
} else {
|
|
out = static_cast<uint16_t>(in);
|
|
}
|
|
}
|
|
|
|
void convert_limit_safe(float in, int16_t &out)
|
|
{
|
|
if (in > INT16_MAX) {
|
|
out = INT16_MAX;
|
|
|
|
} else if (in < INT16_MIN) {
|
|
out = INT16_MIN;
|
|
|
|
} else {
|
|
out = static_cast<int16_t>(in);
|
|
}
|
|
}
|