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AC_PosControl: change keep_xy_I_terms to a parameter of init_xy_controller

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This commit is contained in:
Jonathan Challinger 2014-12-12 13:34:10 -08:00 committed by Randy Mackay
parent 8960766900
commit d6e455417f
2 changed files with 3 additions and 11 deletions
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8
libraries/AC_AttitudeControl/AC_PosControl.cpp
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@ -65,7 +65,6 @@ AC_PosControl::AC_PosControl(const AP_AHRS& ahrs, const AP_InertialNav& inav,
#endif
_flags.recalc_leash_xy = true;
_flags.recalc_leash_z = true;
_flags.keep_xy_I_terms = false;
_flags.reset_desired_vel_to_pos = true;
_flags.reset_rate_to_accel_xy = true;
_flags.reset_rate_to_accel_z = true;
@ -501,7 +500,7 @@ bool AC_PosControl::is_active_xy() const
/// sets target roll angle, pitch angle and I terms based on vehicle current lean angles
/// should be called once whenever significant changes to the position target are made
/// this does not update the xy target
void AC_PosControl::init_xy_controller()
void AC_PosControl::init_xy_controller(bool reset_I)
{
// reset xy controller to first step
_xy_step = 0;
@ -511,14 +510,11 @@ void AC_PosControl::init_xy_controller()
_pitch_target = _ahrs.pitch_sensor;
// initialise I terms from lean angles
if (!_flags.keep_xy_I_terms) {
if (reset_I) {
// reset last velocity if this controller has just been engaged or dt is zero
lean_angles_to_accel(_accel_target.x, _accel_target.y);
_pid_rate_lat.set_integrator(_accel_target.x);
_pid_rate_lon.set_integrator(_accel_target.y);
} else {
// reset keep_xy_I_term flag in case it has been set
_flags.keep_xy_I_terms = false;
}
// flag reset required in rate to accel step

6
libraries/AC_AttitudeControl/AC_PosControl.h
View File

@ -152,7 +152,7 @@ public:
/// sets target roll angle, pitch angle and I terms based on vehicle current lean angles
/// should be called once whenever significant changes to the position target are made
/// this does not update the xy target
void init_xy_controller();
void init_xy_controller(bool reset_I = true);
/// set_accel_xy - set horizontal acceleration in cm/s/s
/// leash length will be recalculated the next time update_xy_controller() is called
@ -242,9 +242,6 @@ public:
/// get_pos_xy_kP - returns xy position controller's kP gain
float get_pos_xy_kP() const { return _p_pos_xy.kP(); }
/// keep_xy_I_terms - ensure xy position controller's PID's I terms are not cleared when the xy controller is next run. Reset automatically back to zero in update_xy_controller.
void keep_xy_I_terms() { _flags.keep_xy_I_terms = true; }
/// accessors for reporting
const Vector3f& get_vel_target() const { return _vel_target; }
const Vector3f& get_accel_target() const { return _accel_target; }
@ -262,7 +259,6 @@ private:
uint8_t recalc_leash_xy : 1; // 1 if we should recalculate the xy axis leash length
uint8_t force_recalc_xy : 1; // 1 if we want the xy position controller to run at it's next possible time. set by loiter and wp controllers after they have updated the target position.
uint8_t slow_cpu : 1; // 1 if we are running on a slow_cpu machine. xy position control is broken up into multiple steps
uint8_t keep_xy_I_terms : 1; // 1 if we are to keep I terms when the position controller is next run. Reset automatically back to zero in update_xy_controller.
uint8_t reset_desired_vel_to_pos: 1; // 1 if we should reset the rate_to_accel_xy step
uint8_t reset_rate_to_accel_xy : 1; // 1 if we should reset the rate_to_accel_xy step
uint8_t reset_rate_to_accel_z : 1; // 1 if we should reset the rate_to_accel_z step