mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-08 17:08:28 -04:00
55 lines
1.8 KiB
C++
55 lines
1.8 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
|
|
#include "AC_AttitudeControl.h"
|
|
#include <AP_HAL/AP_HAL.h>
|
|
#include <AP_Math/AP_Math.h>
|
|
|
|
/*
|
|
code to monitor and report on the rate controllers, allowing for
|
|
notification of controller oscillation
|
|
*/
|
|
|
|
|
|
/*
|
|
update a RMS estimate of controller state
|
|
*/
|
|
void AC_AttitudeControl::control_monitor_filter_pid(const DataFlash_Class::PID_Info &pid_info, float &rms)
|
|
{
|
|
float value = sq(pid_info.P + pid_info.D + pid_info.FF);
|
|
const float filter_constant = 0.99f;
|
|
// we don't do the sqrt() here as it is quite expensive. That is
|
|
// done when reporting a result
|
|
rms = filter_constant * rms + (1.0f - filter_constant) * value;
|
|
}
|
|
|
|
/*
|
|
update state in _control_monitor
|
|
*/
|
|
void AC_AttitudeControl::control_monitor_update(void)
|
|
{
|
|
control_monitor_filter_pid(get_rate_roll_pid().get_pid_info(), _control_monitor.rms_roll);
|
|
control_monitor_filter_pid(get_rate_pitch_pid().get_pid_info(), _control_monitor.rms_pitch);
|
|
control_monitor_filter_pid(get_rate_yaw_pid().get_pid_info(), _control_monitor.rms_yaw);
|
|
}
|
|
|
|
/*
|
|
log a CRTL message
|
|
*/
|
|
void AC_AttitudeControl::control_monitor_log(void)
|
|
{
|
|
DataFlash_Class::instance()->Log_Write("CTRL", "TimeUS,RMSRoll,RMSPitch,RMSYaw", "Qfff",
|
|
AP_HAL::micros64(),
|
|
sqrtf(_control_monitor.rms_roll),
|
|
sqrtf(_control_monitor.rms_pitch),
|
|
sqrtf(_control_monitor.rms_yaw));
|
|
}
|
|
|
|
/*
|
|
return current maximum controller RMS filter value
|
|
*/
|
|
float AC_AttitudeControl::control_monitor_rms_output(void) const
|
|
{
|
|
float v = MAX(MAX(_control_monitor.rms_roll, _control_monitor.rms_pitch), _control_monitor.rms_yaw);
|
|
return sqrtf(v);
|
|
}
|