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AC_AutoTune: use if-else statements for new_meas and new_target

This commit is contained in:
Bill Geyer 2021-12-22 23:15:41 -05:00 committed by Bill Geyer
parent a9d47532d0
commit 24603f3cf1
1 changed files with 36 additions and 28 deletions
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64
libraries/AC_AutoTune/AC_AutoTune_FreqResp.cpp
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@ -179,22 +179,26 @@ void AC_AutoTune_FreqResp::update_rate(float tgt_rate, float meas_rate, float tg
// gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: min_meas_cnt=%f", (double)(min_meas_cnt));
}
if (tgt_rate > max_target && new_target) {
max_target = tgt_rate;
max_tgt_time = now;
if (new_target) {
if (tgt_rate > max_target) {
max_target = tgt_rate;
max_tgt_time = now;
}
} else {
if (tgt_rate < min_target) {
min_target = tgt_rate;
}
}
if (tgt_rate < min_target && !new_target) {
min_target = tgt_rate;
}
if (meas_rate > max_meas && new_meas) {
max_meas = meas_rate;
max_meas_time = now;
}
if (meas_rate < min_meas && !new_meas) {
min_meas = meas_rate;
if (new_meas) {
if (meas_rate > max_meas) {
max_meas = meas_rate;
max_meas_time = now;
}
} else {
if (meas_rate < min_meas) {
min_meas = meas_rate;
}
}
prev_target = tgt_rate;
@ -367,22 +371,26 @@ void AC_AutoTune_FreqResp::update_angle(float command, float tgt_angle, float me
// gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: min_meas_cnt=%f", (double)(min_meas_cnt));
}
if (tgt_angle > max_target && new_target) {
max_target = tgt_angle;
max_tgt_time = now;
if (new_target) {
if (tgt_angle > max_target) {
max_target = tgt_angle;
max_tgt_time = now;
}
} else {
if (tgt_angle < min_target) {
min_target = tgt_angle;
}
}
if (tgt_angle < min_target && !new_target) {
min_target = tgt_angle;
}
if (meas_angle > max_meas && new_meas) {
max_meas = meas_angle;
max_meas_time = now;
}
if (meas_angle < min_meas && !new_meas) {
min_meas = meas_angle;
if (new_meas) {
if (meas_angle > max_meas) {
max_meas = meas_angle;
max_meas_time = now;
}
} else {
if (meas_angle < min_meas) {
min_meas = meas_angle;
}
}
if (now > (uint32_t)(input_start_time_ms + 7.0f * cycle_time_ms) && now < (uint32_t)(input_start_time_ms + 9.0f * cycle_time_ms)) {