Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AC_AutoTune: have circular buffers in freqresp object statically allocated

This commit is contained in:
Bill Geyer 2021-12-21 23:38:29 -05:00 committed by Bill Geyer
parent 38ff36fca7
commit 7bccaac327
2 changed files with 8 additions and 11 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
libraries/AC_AutoTune/AC_AutoTune_FreqResp.cpp
View File

@ -24,8 +24,8 @@ void AC_AutoTune_FreqResp::init(InputType input_type)
max_accel = 0.0f;
max_meas_rate = 0.0f;
max_command = 0.0f;
meas_peak_info_buffer->clear();
tgt_peak_info_buffer->clear();
meas_peak_info_buffer.clear();
tgt_peak_info_buffer.clear();
cycle_complete = false;
}
@ -407,14 +407,14 @@ void AC_AutoTune_FreqResp::push_to_meas_buffer(uint16_t count, float amplitude,
sample.curr_count = count;
sample.amplitude = amplitude;
sample.time_ms = time_ms;
meas_peak_info_buffer->push(sample);
meas_peak_info_buffer.push(sample);
}
// 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;
if (!meas_peak_info_buffer->pop(sample)) {
if (!meas_peak_info_buffer.pop(sample)) {
// no sample
return;
}
@ -430,7 +430,7 @@ void AC_AutoTune_FreqResp::push_to_tgt_buffer(uint16_t count, float amplitude, u
sample.curr_count = count;
sample.amplitude = amplitude;
sample.time_ms = time_ms;
tgt_peak_info_buffer->push(sample);
tgt_peak_info_buffer.push(sample);
}
@ -438,7 +438,7 @@ void AC_AutoTune_FreqResp::push_to_tgt_buffer(uint16_t count, float amplitude, u
void AC_AutoTune_FreqResp::pull_from_tgt_buffer(uint16_t &count, float &amplitude, uint32_t &time_ms)
{
peak_info sample;
if (!tgt_peak_info_buffer->pop(sample)) {
if (!tgt_peak_info_buffer.pop(sample)) {
// no sample
return;
}

7
libraries/AC_AutoTune/AC_AutoTune_FreqResp.h
View File

@ -14,9 +14,6 @@ public:
// Constructor
AC_AutoTune_FreqResp()
{
// initialize test variables
meas_peak_info_buffer = new ObjectBuffer<peak_info>(AUTOTUNE_DWELL_CYCLES);
tgt_peak_info_buffer = new ObjectBuffer<peak_info>(AUTOTUNE_DWELL_CYCLES);
}
// Enumeration of input type
@ -177,10 +174,10 @@ private:
};
// Buffer object for measured peak data
ObjectBuffer<peak_info> *meas_peak_info_buffer;
ObjectBuffer<peak_info> meas_peak_info_buffer{AUTOTUNE_DWELL_CYCLES};
// Buffer object for target peak data
ObjectBuffer<peak_info> *tgt_peak_info_buffer;
ObjectBuffer<peak_info> tgt_peak_info_buffer{AUTOTUNE_DWELL_CYCLES};
// Push data into measured peak data buffer object
void push_to_meas_buffer(uint16_t count, float amplitude, uint32_t time_ms);