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author | Thomas Gubler <thomasgubler@gmail.com> | 2014-08-25 22:06:11 +0200 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-08-25 22:06:11 +0200 |
commit | d1a183b7f7dd6637aa766f9d2978ca96bec2c166 (patch) | |
tree | c33b4ed0cac49fe06c0d9866b62c464ae177a832 /src/modules/fw_att_control/fw_att_control_main.cpp | |
parent | 98e74ed0e74e02f866fc7538c7d4153ae3c36743 (diff) | |
parent | c786f3ce0786adfbd65f00f321817d8719227ddf (diff) | |
download | px4-firmware-d1a183b7f7dd6637aa766f9d2978ca96bec2c166.tar.gz px4-firmware-d1a183b7f7dd6637aa766f9d2978ca96bec2c166.tar.bz2 px4-firmware-d1a183b7f7dd6637aa766f9d2978ca96bec2c166.zip |
Merge remote-tracking branch 'upstream/master' into obcfailsafe
Diffstat (limited to 'src/modules/fw_att_control/fw_att_control_main.cpp')
-rw-r--r-- | src/modules/fw_att_control/fw_att_control_main.cpp | 19 |
1 files changed, 11 insertions, 8 deletions
diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp index ee112a40e..517333c80 100644 --- a/src/modules/fw_att_control/fw_att_control_main.cpp +++ b/src/modules/fw_att_control/fw_att_control_main.cpp @@ -145,6 +145,7 @@ private: perf_counter_t _nonfinite_output_perf; /**< performance counter for non finite output */ bool _setpoint_valid; /**< flag if the position control setpoint is valid */ + bool _debug; /**< if set to true, print debug output */ struct { float tconst; @@ -324,7 +325,8 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() : _nonfinite_input_perf(perf_alloc(PC_COUNT, "fw att control nonfinite input")), _nonfinite_output_perf(perf_alloc(PC_COUNT, "fw att control nonfinite output")), /* states */ - _setpoint_valid(false) + _setpoint_valid(false), + _debug(false) { /* safely initialize structs */ _att = {}; @@ -700,7 +702,8 @@ FixedwingAttitudeControl::task_main() perf_count(_nonfinite_input_perf); } } else { - airspeed = _airspeed.true_airspeed_m_s; + /* prevent numerical drama by requiring 0.5 m/s minimal speed */ + airspeed = math::max(0.5f, _airspeed.true_airspeed_m_s); } /* @@ -792,7 +795,7 @@ FixedwingAttitudeControl::task_main() speed_body_v = _att.R[0][1] * _global_pos.vel_n + _att.R[1][1] * _global_pos.vel_e + _att.R[2][1] * _global_pos.vel_d; speed_body_w = _att.R[0][2] * _global_pos.vel_n + _att.R[1][2] * _global_pos.vel_e + _att.R[2][2] * _global_pos.vel_d; } else { - if (loop_counter % 10 == 0) { + if (_debug && loop_counter % 10 == 0) { warnx("Did not get a valid R\n"); } } @@ -815,7 +818,7 @@ FixedwingAttitudeControl::task_main() _roll_ctrl.reset_integrator(); perf_count(_nonfinite_output_perf); - if (loop_counter % 10 == 0) { + if (_debug && loop_counter % 10 == 0) { warnx("roll_u %.4f", (double)roll_u); } } @@ -828,7 +831,7 @@ FixedwingAttitudeControl::task_main() if (!isfinite(pitch_u)) { _pitch_ctrl.reset_integrator(); perf_count(_nonfinite_output_perf); - if (loop_counter % 10 == 0) { + if (_debug && loop_counter % 10 == 0) { warnx("pitch_u %.4f, _yaw_ctrl.get_desired_rate() %.4f," " airspeed %.4f, airspeed_scaling %.4f," " roll_sp %.4f, pitch_sp %.4f," @@ -852,7 +855,7 @@ FixedwingAttitudeControl::task_main() if (!isfinite(yaw_u)) { _yaw_ctrl.reset_integrator(); perf_count(_nonfinite_output_perf); - if (loop_counter % 10 == 0) { + if (_debug && loop_counter % 10 == 0) { warnx("yaw_u %.4f", (double)yaw_u); } } @@ -860,13 +863,13 @@ FixedwingAttitudeControl::task_main() /* throttle passed through */ _actuators.control[3] = (isfinite(throttle_sp)) ? throttle_sp : 0.0f; if (!isfinite(throttle_sp)) { - if (loop_counter % 10 == 0) { + if (_debug && loop_counter % 10 == 0) { warnx("throttle_sp %.4f", (double)throttle_sp); } } } else { perf_count(_nonfinite_input_perf); - if (loop_counter % 10 == 0) { + if (_debug && loop_counter % 10 == 0) { warnx("Non-finite setpoint roll_sp: %.4f, pitch_sp %.4f", (double)roll_sp, (double)pitch_sp); } } |