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AC_AutoTune: fixed time subtraction bug 

would have failed at time wrap point
This commit is contained in:
Andrew Tridgell 2018-12-13 16:01:34 +11:00
parent d1e93bae83
commit d90edcbb1d
2 changed files with 9 additions and 9 deletions
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16
libraries/AC_AutoTune/AC_AutoTune.cpp
View File

@ -42,7 +42,7 @@
#define AUTOTUNE_AXIS_BITMASK_YAW 4
#define AUTOTUNE_PILOT_OVERRIDE_TIMEOUT_MS 500 // restart tuning if pilot has left sticks in middle for 2 seconds
#define AUTOTUNE_TESTING_STEP_TIMEOUT_MS 1000 // timeout for tuning mode's testing step
#define AUTOTUNE_TESTING_STEP_TIMEOUT_MS 1000U // timeout for tuning mode's testing step
#define AUTOTUNE_LEVEL_ANGLE_CD 500 // angle which qualifies as level
#define AUTOTUNE_LEVEL_RATE_RP_CD 1000 // rate which qualifies as level for roll and pitch
#define AUTOTUNE_LEVEL_RATE_Y_CD 750 // rate which qualifies as level for yaw
@ -493,7 +493,7 @@ void AC_AutoTune::control_attitude()
// initiate variables for next step
step = TWITCHING;
step_start_time = now;
step_stop_time = step_start_time + AUTOTUNE_TESTING_STEP_TIMEOUT_MS;
step_time_limit_ms = AUTOTUNE_TESTING_STEP_TIMEOUT_MS;
twitch_first_iter = true;
test_rate_max = 0.0f;
test_rate_min = 0.0f;
@ -1198,8 +1198,8 @@ void AC_AutoTune::twitching_test_rate(float rate, float rate_target_max, float &
// calculate early stopping time based on the time it takes to get to 75%
if (meas_rate_max < rate_target_max * 0.75f) {
// the measurement not reached the 75% threshold yet
step_stop_time = step_start_time + (now - step_start_time) * 3.0f;
step_stop_time = MIN(step_stop_time, step_start_time + AUTOTUNE_TESTING_STEP_TIMEOUT_MS);
step_time_limit_ms = (now - step_start_time) * 3.0f;
step_time_limit_ms = MIN(step_time_limit_ms, AUTOTUNE_TESTING_STEP_TIMEOUT_MS);
}
if (meas_rate_max > rate_target_max) {
@ -1212,7 +1212,7 @@ void AC_AutoTune::twitching_test_rate(float rate, float rate_target_max, float &
step = UPDATE_GAINS;
}
if (now >= step_stop_time) {
if (now - step_start_time >= step_time_limit_ms) {
// we have passed the maximum stop time
step = UPDATE_GAINS;
}
@ -1253,8 +1253,8 @@ void AC_AutoTune::twitching_test_angle(float angle, float rate, float angle_targ
// calculate early stopping time based on the time it takes to get to 75%
if (meas_angle_max < angle_target_max * 0.75f) {
// the measurement not reached the 75% threshold yet
step_stop_time = step_start_time + (now - step_start_time) * 3.0f;
step_stop_time = MIN(step_stop_time, step_start_time + AUTOTUNE_TESTING_STEP_TIMEOUT_MS);
step_time_limit_ms = (now - step_start_time) * 3.0f;
step_time_limit_ms = MIN(step_time_limit_ms, AUTOTUNE_TESTING_STEP_TIMEOUT_MS);
}
if (meas_angle_max > angle_target_max) {
@ -1267,7 +1267,7 @@ void AC_AutoTune::twitching_test_angle(float angle, float rate, float angle_targ
step = UPDATE_GAINS;
}
if (now >= step_stop_time) {
if (now - step_start_time >= step_time_limit_ms) {
// we have passed the maximum stop time
step = UPDATE_GAINS;
}

2
libraries/AC_AutoTune/AC_AutoTune.h
View File

@ -172,7 +172,7 @@ private:
float test_angle_min; // the minimum angle achieved during TESTING_ANGLE step
float test_angle_max; // the maximum angle achieved during TESTING_ANGLE step
uint32_t step_start_time; // start time of current tuning step (used for timeout checks)
uint32_t step_stop_time; // start time of current tuning step (used for timeout checks)
uint32_t step_time_limit_ms; // time limit of current tuning step
int8_t counter; // counter for tuning gains
float target_rate, start_rate; // target and start rate
float target_angle, start_angle; // target and start angles