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AP_WheelEncoder: correct initialisation of WheelRateController objects 

the existing constructer sets a slew rate limit to 0.2

This is essentially a missing patch from a previous series of PRs which moved dt from being a member variable to being passed into the update call for the PID
This commit is contained in:
Peter Barker 2024-09-20 22:20:02 +10:00 committed by Randy Mackay
parent 17f501eea5
commit 9784e28148
1 changed files with 16 additions and 3 deletions
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19
libraries/AP_WheelEncoder/AP_WheelRateControl.h
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@ -29,7 +29,6 @@
#define AP_WHEEL_RATE_CONTROL_IMAX 1.00f #define AP_WHEEL_RATE_CONTROL_IMAX 1.00f
#define AP_WHEEL_RATE_CONTROL_D 0.01f #define AP_WHEEL_RATE_CONTROL_D 0.01f
#define AP_WHEEL_RATE_CONTROL_FILT 0.00f #define AP_WHEEL_RATE_CONTROL_FILT 0.00f
#define AP_WHEEL_RATE_CONTROL_DT 0.02f
#define AP_WHEEL_RATE_CONTROL_TIMEOUT_MS 200 #define AP_WHEEL_RATE_CONTROL_TIMEOUT_MS 200
class AP_WheelRateControl { class AP_WheelRateControl {
@ -61,8 +60,22 @@ private:
// parameters // parameters
AP_Int8 _enabled; // top level enable/disable control AP_Int8 _enabled; // top level enable/disable control
AP_Float _rate_max; // wheel maximum rotation rate in rad/s AP_Float _rate_max; // wheel maximum rotation rate in rad/s
AC_PID _rate_pid0{AP_WHEEL_RATE_CONTROL_P, AP_WHEEL_RATE_CONTROL_I, AP_WHEEL_RATE_CONTROL_D, AP_WHEEL_RATE_CONTROL_FF, AP_WHEEL_RATE_CONTROL_IMAX, AP_WHEEL_RATE_CONTROL_FILT, AP_WHEEL_RATE_CONTROL_FILT, AP_WHEEL_RATE_CONTROL_FILT, AP_WHEEL_RATE_CONTROL_DT};
AC_PID _rate_pid1{AP_WHEEL_RATE_CONTROL_P, AP_WHEEL_RATE_CONTROL_I, AP_WHEEL_RATE_CONTROL_D, AP_WHEEL_RATE_CONTROL_FF, AP_WHEEL_RATE_CONTROL_IMAX, AP_WHEEL_RATE_CONTROL_FILT, AP_WHEEL_RATE_CONTROL_FILT, AP_WHEEL_RATE_CONTROL_FILT, AP_WHEEL_RATE_CONTROL_DT}; const AC_PID::Defaults rate_pid_defaults {
.p = AP_WHEEL_RATE_CONTROL_P,
.i = AP_WHEEL_RATE_CONTROL_I,
.d = AP_WHEEL_RATE_CONTROL_D,
.ff = AP_WHEEL_RATE_CONTROL_FF,
.imax = AP_WHEEL_RATE_CONTROL_IMAX,
.filt_T_hz = AP_WHEEL_RATE_CONTROL_FILT,
.filt_E_hz = AP_WHEEL_RATE_CONTROL_FILT,
.filt_D_hz = AP_WHEEL_RATE_CONTROL_FILT,
.srmax = 0,
.srtau = 1.0
};
AC_PID _rate_pid0{rate_pid_defaults};
AC_PID _rate_pid1{rate_pid_defaults};
// limit flags // limit flags
struct AP_MotorsUGV_limit { struct AP_MotorsUGV_limit {