diff options
Diffstat (limited to 'src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp')
| -rw-r--r-- | src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp | 29 |
1 files changed, 22 insertions, 7 deletions
diff --git a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp index 255776765..fe03b8065 100644 --- a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp +++ b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp @@ -58,20 +58,33 @@ ECL_YawController::ECL_YawController() : _rate_error(0.0f), _rate_setpoint(0.0f), _bodyrate_setpoint(0.0f), - _coordinated_min_speed(1.0f) + _coordinated_min_speed(1.0f), + _nonfinite_input_perf(perf_alloc(PC_COUNT, "fw att control yaw nonfinite input")) { } +ECL_YawController::~ECL_YawController() +{ + perf_free(_nonfinite_input_perf); +} + float ECL_YawController::control_attitude(float roll, float pitch, float speed_body_u, float speed_body_v, float speed_body_w, float roll_rate_setpoint, float pitch_rate_setpoint) { + /* Do not calculate control signal with bad inputs */ + if (!(isfinite(roll) && isfinite(pitch) && isfinite(speed_body_u) && isfinite(speed_body_v) && + isfinite(speed_body_w) && isfinite(roll_rate_setpoint) && + isfinite(pitch_rate_setpoint))) { + perf_count(_nonfinite_input_perf); + return _rate_setpoint; + } // static int counter = 0; /* Calculate desired yaw rate from coordinated turn constraint / (no side forces) */ _rate_setpoint = 0.0f; if (sqrtf(speed_body_u * speed_body_u + speed_body_v * speed_body_v + speed_body_w * speed_body_w) > _coordinated_min_speed) { float denumerator = (speed_body_u * cosf(roll) * cosf(pitch) + speed_body_w * sinf(pitch)); - if(denumerator != 0.0f) { //XXX: floating point comparison + if(fabsf(denumerator) > FLT_EPSILON) { _rate_setpoint = (speed_body_w * roll_rate_setpoint + 9.81f * sinf(roll) * cosf(pitch) + speed_body_u * pitch_rate_setpoint * sinf(roll)) / denumerator; // warnx("yaw: speed_body_u %.f speed_body_w %1.f roll %.1f pitch %.1f denumerator %.1f _rate_setpoint %.1f", speed_body_u, speed_body_w, denumerator, _rate_setpoint); } @@ -103,6 +116,13 @@ float ECL_YawController::control_bodyrate(float roll, float pitch, float pitch_rate_setpoint, float airspeed_min, float airspeed_max, float airspeed, float scaler, bool lock_integrator) { + /* Do not calculate control signal with bad inputs */ + if (!(isfinite(roll) && isfinite(pitch) && isfinite(pitch_rate) && isfinite(yaw_rate) && + isfinite(pitch_rate_setpoint) && isfinite(airspeed_min) && + isfinite(airspeed_max) && isfinite(scaler))) { + perf_count(_nonfinite_input_perf); + return math::constrain(_last_output, -1.0f, 1.0f); + } /* get the usual dt estimate */ uint64_t dt_micros = ecl_elapsed_time(&_last_run); _last_run = ecl_absolute_time(); @@ -112,11 +132,6 @@ float ECL_YawController::control_bodyrate(float roll, float pitch, 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 = 0; - - /* input conditioning */ if (!isfinite(airspeed)) { /* airspeed is NaN, +- INF or not available, pick center of band */ |