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device integrator cleanup initialization

This commit is contained in:
Daniel Agar 2018-06-26 14:08:03 -04:00
parent 33a71c929d
commit c39ac93ca8
2 changed files with 20 additions and 26 deletions
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10
src/lib/drivers/device/integrator.cpp
View File

@ -41,23 +41,15 @@
*/
#include "integrator.h"
#include <drivers/drv_hrt.h>
Integrator::Integrator(uint64_t auto_reset_interval, bool coning_compensation) :
_auto_reset_interval(auto_reset_interval),
_last_integration_time(0),
_last_reset_time(0),
_alpha(0.0f, 0.0f, 0.0f),
_last_alpha(0.0f, 0.0f, 0.0f),
_beta(0.0f, 0.0f, 0.0f),
_last_val(0.0f, 0.0f, 0.0f),
_last_delta_alpha(0.0f, 0.0f, 0.0f),
_coning_comp_on(coning_compensation)
{
}
Integrator::~Integrator() = default;
bool
Integrator::put(uint64_t timestamp, matrix::Vector3f &val, matrix::Vector3f &integral, uint64_t &integral_dt)
{

36
src/lib/drivers/device/integrator.h
View File

@ -49,7 +49,13 @@ class Integrator
{
public:
Integrator(uint64_t auto_reset_interval = 4000 /* 250 Hz */, bool coning_compensation = false);
virtual ~Integrator();
~Integrator() = default;
// no copy, assignment, move, move assignment
Integrator(const Integrator &) = delete;
Integrator &operator=(const Integrator &) = delete;
Integrator(Integrator &&) = delete;
Integrator &operator=(Integrator &&) = delete;
/**
* Put an item into the integral.
@ -105,26 +111,22 @@ public:
*
* @param auto_reset_interval New reset time interval for the integrator.
*/
void set_autoreset_interval(uint64_t auto_reset_interval)
{
_auto_reset_interval = auto_reset_interval;
}
void set_autoreset_interval(uint64_t auto_reset_interval) { _auto_reset_interval = auto_reset_interval; }
private:
uint64_t _auto_reset_interval; /**< the interval after which the content will be published
uint64_t _auto_reset_interval{0}; /**< the interval after which the content will be published
and the integrator reset, 0 if no auto-reset */
uint64_t _last_integration_time; /**< timestamp of the last integration step */
uint64_t _last_reset_time; /**< last auto-announcement of integral value */
matrix::Vector3f _alpha; /**< integrated value before coning corrections are applied */
matrix::Vector3f _last_alpha; /**< previous value of _alpha */
matrix::Vector3f _beta; /**< accumulated coning corrections */
matrix::Vector3f _last_val; /**< previous input */
matrix::Vector3f _last_delta_alpha; /**< integral from previous previous sampling interval */
bool _coning_comp_on; /**< true to turn on coning corrections */
/* we don't want this class to be copied */
Integrator(const Integrator &);
Integrator operator=(const Integrator &);
uint64_t _last_integration_time{0}; /**< timestamp of the last integration step */
uint64_t _last_reset_time{0}; /**< last auto-announcement of integral value */
matrix::Vector3f _alpha{0.0f, 0.0f, 0.0f}; /**< integrated value before coning corrections are applied */
matrix::Vector3f _last_alpha{0.0f, 0.0f, 0.0f}; /**< previous value of _alpha */
matrix::Vector3f _beta{0.0f, 0.0f, 0.0f}; /**< accumulated coning corrections */
matrix::Vector3f _last_val{0.0f, 0.0f, 0.0f}; /**< previous input */
matrix::Vector3f _last_delta_alpha{0.0f, 0.0f, 0.0f}; /**< integral from previous previous sampling interval */
bool _coning_comp_on{false}; /**< true to turn on coning corrections */
/* Do a reset.
*