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AC_AutoTune: removeing static variables-not complete

This commit is contained in:
Bill Geyer 2021-11-25 23:29:25 -05:00 committed by Bill Geyer
parent 58b6dae4d5
commit b1e65de2d4
2 changed files with 32 additions and 26 deletions
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35
libraries/AC_AutoTune/AC_AutoTune.cpp
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@ -1437,14 +1437,10 @@ void AC_AutoTune::rate_ff_test_init()
void AC_AutoTune::rate_ff_test_run(float max_angle_cd, float target_rate_cds, float dir_sign)
{
float gyro_reading = 0.0f;
float command_reading = 0.0f;
float tgt_rate_reading = 0.0f;
float gyro_reading;
float command_reading;
float tgt_rate_reading;
const uint32_t now = AP_HAL::millis();
static float trim_command_reading = 0.0f;
static float trim_heading = 0.0f;
static float rate_request_cds;
static float angle_request_cd;
// TODO make filter leak dependent on dt
const float filt_alpha = 0.0123f;
@ -1667,22 +1663,15 @@ void AC_AutoTune::dwell_test_init(float filt_freq)
void AC_AutoTune::dwell_test_run(uint8_t freq_resp_input, float start_frq, float stop_frq, float &dwell_gain, float &dwell_phase)
{
float gyro_reading = 0.0f;
float command_reading = 0.0f;
float tgt_rate_reading = 0.0f;
float gyro_reading;
float command_reading;
float tgt_rate_reading;
float tgt_attitude = 2.5f * 0.01745f;
const uint32_t now = AP_HAL::millis();
float target_rate_cds;
static float trim_command;
static Vector3f trim_attitude_cd;
float sweep_time_ms = 23000;
const float att_hold_gain = 4.5f;
static Vector3f filt_attitude_cd;
static Vector2f filt_att_fdbk_from_velxy_cd;
Vector3f attitude_cd;
static float filt_command_reading;
static float filt_gyro_reading;
static float filt_tgt_rate_reading;
float dwell_freq = start_frq;
float cycle_time_ms = 0;
@ -1934,20 +1923,14 @@ void AC_AutoTune::angle_dwell_test_init(float filt_freq)
void AC_AutoTune::angle_dwell_test_run(float start_frq, float stop_frq, float &dwell_gain, float &dwell_phase)
{
float gyro_reading = 0.0f;
float command_reading = 0.0f;
float tgt_rate_reading = 0.0f;
float gyro_reading;
float command_reading;
float tgt_rate_reading;
float tgt_attitude = 5.0f * 0.01745f;
const uint32_t now = AP_HAL::millis();
float target_angle_cd;
static float trim_yaw_tgt_reading = 0.0f;
static float trim_yaw_heading_reading = 0.0f;
float sweep_time_ms = 23000;
float dwell_freq = start_frq;
static float filt_command_reading;
static float filt_gyro_reading;
static float filt_tgt_rate_reading;
static Vector2f filt_att_fdbk_from_velxy_cd;
const float alpha = calc_lowpass_alpha_dt(0.0025f, 0.2f * start_frq);

23
libraries/AC_AutoTune/AC_AutoTune.h
View File

@ -386,6 +386,29 @@ protected:
float trim_pff_out; // trim output of the PID rate controller for P, I and FF terms
float trim_meas_rate; // trim measured gyro rate
//variables from rate FF test
float trim_command_reading;
float trim_heading;
float rate_request_cds;
float angle_request_cd;
// variables from rate dwell test
Vector3f trim_attitude_cd;
Vector3f filt_attitude_cd;
Vector2f filt_att_fdbk_from_velxy_cd;
float filt_command_reading;
float filt_gyro_reading;
float filt_tgt_rate_reading;
float trim_command;
// variables from angle dwell test
float trim_yaw_tgt_reading;
float trim_yaw_heading_reading;
// Vector2f filt_att_fdbk_from_velxy_cd;
// float filt_command_reading;
// float filt_gyro_reading;
// float filt_tgt_rate_reading;
LowPassFilterFloat command_filt; // filtered command
LowPassFilterFloat target_rate_filt; // filtered target rotation rate in radians/second