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mc_rate_control: RateControl inline simple getters/setters

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- these are typically called on every iteration
This commit is contained in:
Daniel Agar
2021-11-26 09:26:20 -05:00
parent 42845d6c6e
commit 263d2d6e2b
2 changed files with 11 additions and 16 deletions
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src/modules/mc_rate_control/RateControl/RateControl.cpp
-14
View File
@@ -47,13 +47,6 @@ void RateControl::setGains(const Vector3f &P, const Vector3f &I, const Vector3f
_gain_d = D; _gain_d = D;
} }
void RateControl::setSaturationStatus(const Vector<bool, 3> &saturation_positive,
const Vector<bool, 3> &saturation_negative)
{
_control_allocator_saturation_positive = saturation_positive;
_control_allocator_saturation_negative = saturation_negative;
}
Vector3f RateControl::update(const Vector3f &rate, const Vector3f &rate_sp, const Vector3f &angular_accel, Vector3f RateControl::update(const Vector3f &rate, const Vector3f &rate_sp, const Vector3f &angular_accel,
const float dt, const bool landed) const float dt, const bool landed)
{ {
@@ -102,10 +95,3 @@ void RateControl::updateIntegral(Vector3f &rate_error, const float dt)
} }
} }
} }
void RateControl::getRateControlStatus(rate_ctrl_status_s &rate_ctrl_status)
{
rate_ctrl_status.rollspeed_integ = _rate_int(0);
rate_ctrl_status.pitchspeed_integ = _rate_int(1);
rate_ctrl_status.yawspeed_integ = _rate_int(2);
}
src/modules/mc_rate_control/RateControl/RateControl.hpp
+11 -2
View File
@@ -76,7 +76,11 @@ public:
* @param control saturation vector from control allocator * @param control saturation vector from control allocator
*/ */
void setSaturationStatus(const matrix::Vector<bool, 3> &saturation_positive, void setSaturationStatus(const matrix::Vector<bool, 3> &saturation_positive,
const matrix::Vector<bool, 3> &saturation_negative); const matrix::Vector<bool, 3> &saturation_negative)
{
_control_allocator_saturation_positive = saturation_positive;
_control_allocator_saturation_negative = saturation_negative;
}
/** /**
* Run one control loop cycle calculation * Run one control loop cycle calculation
@@ -98,7 +102,12 @@ public:
* Get status message of controller for logging/debugging * Get status message of controller for logging/debugging
* @param rate_ctrl_status status message to fill with internal states * @param rate_ctrl_status status message to fill with internal states
*/ */
void getRateControlStatus(rate_ctrl_status_s &rate_ctrl_status); void getRateControlStatus(rate_ctrl_status_s &rate_ctrl_status) const
{
rate_ctrl_status.rollspeed_integ = _rate_int(0);
rate_ctrl_status.pitchspeed_integ = _rate_int(1);
rate_ctrl_status.yawspeed_integ = _rate_int(2);
}
private: private:
void updateIntegral(matrix::Vector3f &rate_error, const float dt); void updateIntegral(matrix::Vector3f &rate_error, const float dt);