Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-18 06:38:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_WheelEncoder: last_reading is last update time instead of system time

Browse Source
This commit is contained in:
Randy Mackay 2017-07-20 16:53:50 +09:00
parent 2c7b9d9cf7
commit eaf8aad5ad
2 changed files with 5 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
libraries/AP_WheelEncoder/WheelEncoder_Quadrature.cpp
View File

@ -77,7 +77,7 @@ void AP_WheelEncoder_Quadrature::update(void)
_state.distance_count = irq_state[instance].distance_count; _state.distance_count = irq_state[instance].distance_count;
_state.total_count = irq_state[instance].total_count; _state.total_count = irq_state[instance].total_count;
_state.error_count = irq_state[instance].error_count; _state.error_count = irq_state[instance].error_count;
_state.last_reading_ms = AP_HAL::millis(); _state.last_reading_ms = irq_state[instance].last_reading_ms;
// restore interrupts // restore interrupts
irqrestore(istate); irqrestore(istate);
@ -190,6 +190,9 @@ void AP_WheelEncoder_Quadrature::irq_handler(uint8_t instance, bool pin_a)
// update distance and error counts // update distance and error counts
update_phase_and_error_count(pin_a_high, pin_b_high, irq_state[instance].phase, irq_state[instance].distance_count, irq_state[instance].total_count, irq_state[instance].error_count); update_phase_and_error_count(pin_a_high, pin_b_high, irq_state[instance].phase, irq_state[instance].distance_count, irq_state[instance].total_count, irq_state[instance].error_count);
// record update time
irq_state[instance].last_reading_ms = AP_HAL::millis();
} }
#endif // CONFIG_HAL_BOARD #endif // CONFIG_HAL_BOARD

1
libraries/AP_WheelEncoder/WheelEncoder_Quadrature.h
View File

@ -53,6 +53,7 @@ private:
int32_t distance_count; // distance measured by cumulative steps forward or backwards int32_t distance_count; // distance measured by cumulative steps forward or backwards
uint32_t total_count; // total number of successful readings from sensor (used for sensor quality calcs) uint32_t total_count; // total number of successful readings from sensor (used for sensor quality calcs)
uint32_t error_count; // total number of errors reading from sensor (used for sensor quality calcs) uint32_t error_count; // total number of errors reading from sensor (used for sensor quality calcs)
uint32_t last_reading_ms; // system time of last update from encoder
}; };
static struct IrqState irq_state[WHEELENCODER_MAX_INSTANCES]; static struct IrqState irq_state[WHEELENCODER_MAX_INSTANCES];