mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-29 11:44:06 +08:00
3198610f85
and remove the px4_ prefix, except for px4_config.h.
command to update includes:
for k in app.h atomic.h cli.h console_buffer.h defines.h getopt.h i2c.h init.h log.h micro_hal.h module.h module_params.h param.h param_macros.h posix.h sem.h sem.hpp shmem.h shutdown.h tasks.h time.h workqueue.h; do for i in $(grep -rl 'include <px4_'$k src platforms boards); do sed -i 's/#include <px4_'$k'/#include <px4_platform_common\/'$k/ $i; done; done
for in $(grep -rl 'include <px4_config.h' src platforms boards); do sed -i 's/#include <px4_config.h/#include <px4_platform_common\/px4_config.h'/ $i; done
Transitional headers for submodules are added (px4_{defines,log,time}.h)
175 lines
3.7 KiB
C++
175 lines
3.7 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 mavlink_simple_analyzer.cpp
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*
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* @author Achermann Florian <acfloria@ethz.ch>
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*/
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#include "mavlink_simple_analyzer.h"
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#include <float.h>
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#include <px4_platform_common/log.h>
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#include <px4_platform_common/defines.h>
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SimpleAnalyzer::SimpleAnalyzer(Mode mode, float window) :
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_window(window),
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_mode(mode)
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{
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reset();
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}
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void SimpleAnalyzer::reset()
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{
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_n = 0;
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switch (_mode) {
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case AVERAGE:
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_result = 0.0f;
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break;
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case MIN:
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_result = FLT_MAX;
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break;
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case MAX:
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_result = FLT_MIN;
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break;
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default:
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PX4_ERR("SimpleAnalyzer: Unknown mode.");
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}
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}
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void SimpleAnalyzer::add_value(float val, float update_rate)
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{
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switch (_mode) {
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case AVERAGE:
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_result = (_result * _n + val) / (_n + 1u);
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break;
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case MIN:
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if (val < _result) {
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_result = val;
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}
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break;
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case MAX:
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if (val > _result) {
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_result = val;
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}
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break;
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}
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// if we get more measurements than n_max so the exponential moving average
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// is computed
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if ((_n < update_rate * _window) && (update_rate > 1.0f)) {
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_n++;
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}
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// value sanity checks
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if (!PX4_ISFINITE(_result)) {
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PX4_DEBUG("SimpleAnalyzer: Result is not finite, reset the analyzer.");
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reset();
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}
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}
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bool SimpleAnalyzer::valid() const
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{
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return _n > 0u;
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}
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float SimpleAnalyzer::get() const
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{
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return _result;
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}
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float SimpleAnalyzer::get_scaled(float scalingfactor) const
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{
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return get() * scalingfactor;
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}
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void SimpleAnalyzer::check_limits(float &x, float min, float max) const
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{
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if (x > max) {
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x = max;
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} else if (x < min) {
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x = min;
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}
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}
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void SimpleAnalyzer::int_round(float &x) const
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{
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if (x < 0) {
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x -= 0.5f;
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} else {
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x += 0.5f;
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}
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}
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void convert_limit_safe(float in, uint16_t &out)
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{
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if (in > UINT16_MAX) {
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out = UINT16_MAX;
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} else if (in < 0) {
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out = 0;
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} else {
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out = static_cast<uint16_t>(in);
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}
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}
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void convert_limit_safe(float in, int16_t &out)
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{
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if (in > INT16_MAX) {
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out = INT16_MAX;
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} else if (in < INT16_MIN) {
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out = INT16_MIN;
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} else {
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out = static_cast<int16_t>(in);
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}
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}
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