dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

hysteresis: we needed different hysteresis 

Sometimes, we only need a histeresis in one direction.
This commit is contained in:
Julian Oes 2016-07-17 16:03:51 +01:00
parent 401d807261
commit f365832c0b
3 changed files with 67 additions and 18 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
src/modules/systemlib/hysteresis/hysteresis.cpp
View File

@ -61,12 +61,13 @@ Hysteresis::set_state_and_update(const bool new_state)
void
Hysteresis::update()
{
if (_requested_state != _state) {
if (_requested_state != _state &&
hrt_elapsed_time(&_last_time_to_change_state) >= _hysteresis_time_us) {
_state = _requested_state;
if (hrt_elapsed_time(&_last_time_to_change_state) >= (_state ?
_hysteresis_time_from_true_us :
_hysteresis_time_from_false_us)) {
_state = _requested_state;
}
}
}

17
src/modules/systemlib/hysteresis/hysteresis.h
View File

@ -48,16 +48,25 @@ namespace systemlib {
class Hysteresis
{
public:
Hysteresis(unsigned hysteresis_time_us, bool init_state) :
_hysteresis_time_us(hysteresis_time_us),
Hysteresis(bool init_state) :
_state(init_state),
_requested_state(init_state),
_hysteresis_time_from_true_us(0),
_hysteresis_time_from_false_us(0),
_last_time_to_change_state(0)
{}
~Hysteresis()
{}
void set_hysteresis_time_from(const bool from_state, const unsigned new_hysteresis_time_us) {
if (from_state == true) {
_hysteresis_time_from_true_us = new_hysteresis_time_us;
} else {
_hysteresis_time_from_false_us = new_hysteresis_time_us;
}
}
bool get_state() const {
return _state;
}
@ -68,10 +77,10 @@ public:
private:
unsigned _hysteresis_time_us;
bool _state;
bool _requested_state;
unsigned _hysteresis_time_from_true_us;
unsigned _hysteresis_time_from_false_us;
hrt_abstime _last_time_to_change_state;
};

57
unittests/hysteresis_test.cpp
View File

@ -2,23 +2,23 @@
#include "gtest/gtest.h"
const static unsigned hysteresis_time_us = 5000;
TEST(HysteresisTest, InitFalse)
{
systemlib::Hysteresis hysteresis(hysteresis_time_us, false);
systemlib::Hysteresis hysteresis(false);
ASSERT_FALSE(hysteresis.get_state());
}
TEST(HysteresisTest, InitTrue)
{
systemlib::Hysteresis hysteresis(hysteresis_time_us, true);
systemlib::Hysteresis hysteresis(true);
ASSERT_TRUE(hysteresis.get_state());
}
TEST(HysteresisTest, ZeroCase)
{
systemlib::Hysteresis hysteresis(0, false);
// Default is 0 hysteresis.
systemlib::Hysteresis hysteresis(false);
ASSERT_FALSE(hysteresis.get_state());
// Change and see result immediately.
@ -37,7 +37,36 @@ TEST(HysteresisTest, ZeroCase)
TEST(HysteresisTest, ChangeAfterTime)
{
systemlib::Hysteresis hysteresis(hysteresis_time_us, false);
systemlib::Hysteresis hysteresis(false);
hysteresis.set_hysteresis_time_from(false, 5000);
hysteresis.set_hysteresis_time_from(true, 3000);
// Change to true.
hysteresis.set_state_and_update(true);
ASSERT_FALSE(hysteresis.get_state());
usleep(4000);
hysteresis.update();
ASSERT_FALSE(hysteresis.get_state());
usleep(2000);
hysteresis.update();
ASSERT_TRUE(hysteresis.get_state());
// Change back to false.
hysteresis.set_state_and_update(false);
ASSERT_TRUE(hysteresis.get_state());
usleep(1000);
hysteresis.update();
ASSERT_TRUE(hysteresis.get_state());
usleep(3000);
hysteresis.update();
ASSERT_FALSE(hysteresis.get_state());
}
TEST(HysteresisTest, HysteresisChanged)
{
systemlib::Hysteresis hysteresis(false);
hysteresis.set_hysteresis_time_from(true, 2000);
hysteresis.set_hysteresis_time_from(false, 5000);
// Change to true.
hysteresis.set_state_and_update(true);
@ -49,20 +78,25 @@ TEST(HysteresisTest, ChangeAfterTime)
hysteresis.update();
ASSERT_TRUE(hysteresis.get_state());
// Change hysteresis time.
hysteresis.set_hysteresis_time_from(true, 10000);
// Change back to false.
hysteresis.set_state_and_update(false);
ASSERT_TRUE(hysteresis.get_state());
usleep(3000);
usleep(7000);
hysteresis.update();
ASSERT_TRUE(hysteresis.get_state());
usleep(3000);
usleep(5000);
hysteresis.update();
ASSERT_FALSE(hysteresis.get_state());
}
TEST(HysteresisTest, ChangeAfterTimeMultipleSets)
{
systemlib::Hysteresis hysteresis(hysteresis_time_us, false);
systemlib::Hysteresis hysteresis(false);
hysteresis.set_hysteresis_time_from(true, 5000);
hysteresis.set_hysteresis_time_from(false, 5000);
// Change to true.
hysteresis.set_state_and_update(true);
@ -87,7 +121,8 @@ TEST(HysteresisTest, ChangeAfterTimeMultipleSets)
TEST(HysteresisTest, TakeChangeBack)
{
systemlib::Hysteresis hysteresis(hysteresis_time_us, false);
systemlib::Hysteresis hysteresis(false);
hysteresis.set_hysteresis_time_from(false, 5000);
// Change to true.
hysteresis.set_state_and_update(true);
@ -111,4 +146,8 @@ TEST(HysteresisTest, TakeChangeBack)
usleep(3000);
hysteresis.update();
ASSERT_TRUE(hysteresis.get_state());
// The other directory is immediate.
hysteresis.set_state_and_update(false);
ASSERT_FALSE(hysteresis.get_state());
}