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consistent and safer fix for dt calculation

This commit is contained in:
Thomas Gubler 2013-10-19 19:12:03 +02:00
parent 8f74aab468
commit ccc6dd73a0
3 changed files with 12 additions and 3 deletions
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2
src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
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@ -116,7 +116,7 @@ float ECL_PitchController::control_bodyrate(float roll, float pitch,
/* get the usual dt estimate */ /* get the usual dt estimate */
uint64_t dt_micros = ecl_elapsed_time(&_last_run); uint64_t dt_micros = ecl_elapsed_time(&_last_run);
_last_run = ecl_absolute_time(); _last_run = ecl_absolute_time();
float dt = (dt_micros > 500000) ? 0.0f : (float)dt_micros * 1e-6f; float dt = (float)dt_micros * 1e-6f;
/* lock integral for long intervals */ /* lock integral for long intervals */
if (dt_micros > 500000) if (dt_micros > 500000)

6
src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
View File

@ -86,7 +86,11 @@ float ECL_RollController::control_bodyrate(float pitch,
/* get the usual dt estimate */ /* get the usual dt estimate */
uint64_t dt_micros = ecl_elapsed_time(&_last_run); uint64_t dt_micros = ecl_elapsed_time(&_last_run);
_last_run = ecl_absolute_time(); _last_run = ecl_absolute_time();
float dt = (dt_micros > 500000) ? 0.0f : (float)dt_micros * 1e-6f; float dt = (float)dt_micros * 1e-6f;
/* lock integral for long intervals */
if (dt_micros > 500000)
lock_integrator = true;
float k_ff = math::max((_k_p - _k_i * _tc) * _tc - _k_d, 0.0f); float k_ff = math::max((_k_p - _k_i * _tc) * _tc - _k_d, 0.0f);
float k_i_rate = _k_i * _tc; float k_i_rate = _k_i * _tc;

7
src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp
View File

@ -99,7 +99,12 @@ float ECL_YawController::control_bodyrate(float roll, float pitch,
/* get the usual dt estimate */ /* get the usual dt estimate */
uint64_t dt_micros = ecl_elapsed_time(&_last_run); uint64_t dt_micros = ecl_elapsed_time(&_last_run);
_last_run = ecl_absolute_time(); _last_run = ecl_absolute_time();
float dt = (dt_micros > 500000) ? 0.0f : (float)dt_micros * 1e-6f; float dt = (float)dt_micros * 1e-6f;
/* lock integral for long intervals */
if (dt_micros > 500000)
lock_integrator = true;
float k_ff = math::max((_k_p - _k_i * _tc) * _tc - _k_d, 0.0f); float k_ff = math::max((_k_p - _k_i * _tc) * _tc - _k_d, 0.0f);
float k_i_rate = _k_i * _tc; float k_i_rate = _k_i * _tc;