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AC_AutoTune: use ring buffer only for dwells

This commit is contained in:
bnsgeyer 2024-06-27 23:41:52 -04:00 committed by Bill Geyer
parent bb6c52d508
commit 475663e199
1 changed files with 7 additions and 7 deletions
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14
libraries/AC_AutoTune/AC_AutoTune_FreqResp.cpp
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@ -93,7 +93,6 @@ void AC_AutoTune_FreqResp::update(float command, float tgt_resp, float meas_resp
pull_from_tgt_buffer(tgt_cnt, tgt_ampl, tgt_time); pull_from_tgt_buffer(tgt_cnt, tgt_ampl, tgt_time);
push_to_meas_buffer(0, 0.0f, 0); push_to_meas_buffer(0, 0.0f, 0);
push_to_tgt_buffer(0, 0.0f, 0); push_to_tgt_buffer(0, 0.0f, 0);
// gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: tgt_cnt=%f meas_cnt=%f", (double)(tgt_cnt), (double)(meas_cnt));
if (meas_cnt == tgt_cnt && meas_cnt != 0) { if (meas_cnt == tgt_cnt && meas_cnt != 0) {
if (tgt_ampl > 0.0f) { if (tgt_ampl > 0.0f) {
@ -111,8 +110,7 @@ void AC_AutoTune_FreqResp::update(float command, float tgt_resp, float meas_resp
} else if (meas_cnt < tgt_cnt) { } else if (meas_cnt < tgt_cnt) {
pull_from_meas_buffer(meas_cnt, meas_ampl, meas_time); pull_from_meas_buffer(meas_cnt, meas_ampl, meas_time);
push_to_meas_buffer(0, 0.0f, 0); push_to_meas_buffer(0, 0.0f, 0);
} }
} }
if (gcnt > 0) { if (gcnt > 0) {
curr_test_gain = sum_gain / gcnt; curr_test_gain = sum_gain / gcnt;
@ -140,7 +138,6 @@ void AC_AutoTune_FreqResp::update(float command, float tgt_resp, float meas_resp
curr_test_freq = tgt_freq; curr_test_freq = tgt_freq;
cycle_complete = true; cycle_complete = true;
// gcs().send_text(MAV_SEVERITY_INFO, "AutoTune: cycles completed");
return; return;
} }
@ -160,7 +157,9 @@ void AC_AutoTune_FreqResp::update(float command, float tgt_resp, float meas_resp
sweep_tgt.count_m1 = min_target_cnt - 1; sweep_tgt.count_m1 = min_target_cnt - 1;
sweep_tgt.amplitude_m1 = temp_tgt_ampl; sweep_tgt.amplitude_m1 = temp_tgt_ampl;
temp_tgt_ampl = temp_max_target - temp_min_target; temp_tgt_ampl = temp_max_target - temp_min_target;
push_to_tgt_buffer(min_target_cnt,temp_tgt_ampl,temp_max_tgt_time); if (excitation == DWELL) {
push_to_tgt_buffer(min_target_cnt,temp_tgt_ampl,temp_max_tgt_time);
}
} }
} else if (((response == ANGLE && !is_positive(prev_target) && is_positive(target_rate)) } else if (((response == ANGLE && !is_positive(prev_target) && is_positive(target_rate))
@ -189,8 +188,9 @@ void AC_AutoTune_FreqResp::update(float command, float tgt_resp, float meas_resp
sweep_meas.count_m1 = min_meas_cnt - 1; sweep_meas.count_m1 = min_meas_cnt - 1;
sweep_meas.amplitude_m1 = temp_meas_ampl; sweep_meas.amplitude_m1 = temp_meas_ampl;
temp_meas_ampl = temp_max_meas - temp_min_meas; temp_meas_ampl = temp_max_meas - temp_min_meas;
push_to_meas_buffer(min_meas_cnt,temp_meas_ampl,temp_max_meas_time); if (excitation == DWELL) {
push_to_meas_buffer(min_meas_cnt,temp_meas_ampl,temp_max_meas_time);
}
if (excitation == SWEEP) { if (excitation == SWEEP) {
float tgt_period = 0.001f * (temp_max_tgt_time - sweep_tgt.max_time_m1); float tgt_period = 0.001f * (temp_max_tgt_time - sweep_tgt.max_time_m1);
if (!is_zero(tgt_period)) { if (!is_zero(tgt_period)) {