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AC_AutoTune: adding comments to FreqResp Library

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This commit is contained in:
Bill Geyer 2021-09-06 19:47:49 -04:00 committed by Bill Geyer
parent c757de153d
commit 6cdf3b9109
1 changed files with 16 additions and 10 deletions
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26
libraries/AC_AutoTune/AC_AutoTune_FreqResp.cpp
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@ -13,6 +13,7 @@ float AC_AutoTune_FreqResp::update()
return dummy;
}
// Initialize the Frequency Response methods. Must be called before running dwell or frequency sweep tests
void AC_AutoTune_FreqResp::init(InputType input_type)
{
excitation = input_type;
@ -36,9 +37,12 @@ void AC_AutoTune_FreqResp::init(InputType input_type)
cycle_complete = false;
}
// determine_gain - this function receives time history data during a dwell test input and determines the gain and phase of the response to the input.
// Once the designated number of cycles are complete, the average of the gain and phase are determined over the last 5 cycles and the cycles_complete flag
// is set. This function must be reset using the reset flag prior to the next dwell.
// determine_gain - this function receives time history data during a dwell and frequency sweep tests for max gain,
// rate P and rate D tuning and determines the gain and phase of the response to the input. For dwell tests once
// the designated number of cycles are complete, the average of the gain and phase are determined over the last 5 cycles
// and the cycles_complete flag is set. For frequency sweep tests, phase and gain are determined for every cycle and
// cycle_complete flag is set to indicate when to pull the phase and gain data. The flag is reset to enable the next
// cycle to be analyzed.
void AC_AutoTune_FreqResp::determine_gain(float tgt_rate, float meas_rate, float tgt_freq)
{
uint32_t now = AP_HAL::millis();
@ -205,9 +209,11 @@ void AC_AutoTune_FreqResp::determine_gain(float tgt_rate, float meas_rate, float
prev_meas = meas_rate;
}
// determine_gain_angle - this function receives time history data during a dwell test input and determines the gain and phase of the response to the input.
// Once the designated number of cycles are complete, the average of the gain and phase are determined over the last 5 cycles and the cycles_complete flag
// is set. This function must be reset using the reset flag prior to the next dwell.
// determine_gain_angle - this function receives time history data during a dwell and frequency sweep tests for angle_p tuning
// and determines the gain, phase, and max acceleration of the response to the input. For dwell tests once the designated number
// of cycles are complete, the average of the gain, phase, and max acceleration are determined over the last 5 cycles and the
// cycles_complete flag is set. For frequency sweep tests, phase and gain are determined for every cycle and cycle_complete flag is set
// to indicate when to pull the phase and gain data. The flag is reset to enable the next cycle to be analyzed.
void AC_AutoTune_FreqResp::determine_gain_angle(float command, float tgt_angle, float meas_angle, float tgt_freq)
{
@ -402,7 +408,7 @@ void AC_AutoTune_FreqResp::determine_gain_angle(float command, float tgt_angle,
prev_meas_angle = meas_angle;
}
// push to peak info buffer
// push measured peak info to buffer
void AC_AutoTune_FreqResp::push_to_meas_buffer(uint16_t count, float amplitude, uint32_t time_ms)
{
peak_info sample;
@ -412,7 +418,7 @@ void AC_AutoTune_FreqResp::push_to_meas_buffer(uint16_t count, float amplitude,
meas_peak_info_buffer->push(sample);
}
// pull from peak info buffer
// pull measured peak info from buffer
void AC_AutoTune_FreqResp::pull_from_meas_buffer(uint16_t &count, float &amplitude, uint32_t &time_ms)
{
peak_info sample;
@ -425,7 +431,7 @@ void AC_AutoTune_FreqResp::pull_from_meas_buffer(uint16_t &count, float &amplitu
time_ms = sample.time_ms;
}
// push to peak info buffer
// push target peak info to buffer
void AC_AutoTune_FreqResp::push_to_tgt_buffer(uint16_t count, float amplitude, uint32_t time_ms)
{
peak_info sample;
@ -436,7 +442,7 @@ void AC_AutoTune_FreqResp::push_to_tgt_buffer(uint16_t count, float amplitude, u
}
// pull from peak info buffer
// pull target peak info from buffer
void AC_AutoTune_FreqResp::pull_from_tgt_buffer(uint16_t &count, float &amplitude, uint32_t &time_ms)
{
peak_info sample;