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Add input_pos_updated var to avoid race conditions with comms thread

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This commit is contained in:
Paul Guenette
2019-06-01 14:08:16 +02:00
parent 7d92f5b862
commit 0f7337743c
2 changed files with 6 additions and 3 deletions
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7
Firmware/MotorControl/controller.cpp
View File

@@ -26,9 +26,7 @@ void Controller::set_error(Error_t error) {
//--------------------------------
void Controller::input_pos_updated() {
if (config_.input_mode == INPUT_MODE_TRAP_TRAJ) {
move_to_pos(input_pos_);
}
input_pos_updated_ = true;
}
void Controller::move_to_pos(float goal_point) {
@@ -157,6 +155,8 @@ bool Controller::update(float pos_estimate, float vel_estimate, float* current_s
// // NOT YET IMPLEMENTED
// } break;
case INPUT_MODE_TRAP_TRAJ: {
if(input_pos_updated_)
move_to_pos(input_pos_);
// Avoid updating uninitialized trajectory
if (trajectory_done_)
break;
@@ -181,6 +181,7 @@ bool Controller::update(float pos_estimate, float vel_estimate, float* current_s
set_error(ERROR_INVALID_INPUT_MODE);
return false;
}
input_pos_updated_ = false;
}
// Position control

2
Firmware/MotorControl/controller.hpp
View File

@@ -102,6 +102,8 @@ public:
float input_filter_kp_ = 0.0f;
float input_filter_ki_ = 0.0f;
bool input_pos_updated_ = false;
uint32_t traj_start_loop_count_ = 0;
float goal_point_ = 0.0f;
bool trajectory_done_ = true;