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Fix continuous actuator (#3196)

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* fix extra bug for #3190

* fix extra extra bug for #3190

* fix for fix of fix

* final fix?

* Update comment: specify natural log = ln
This commit is contained in:
Christophe De Wagter
2023-12-07 20:19:08 +01:00
committed by GitHub
parent 7279d9b0d1
commit 2083b5898f
3 changed files with 8 additions and 5 deletions
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sw/airborne/firmwares/rotorcraft/guidance/guidance_indi_hybrid.c
+2
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@@ -293,10 +293,12 @@ void guidance_indi_init(void)
/*AbiBindMsgACCEL_SP(GUIDANCE_INDI_ACCEL_SP_ID, &accel_sp_ev, accel_sp_cb);*/
AbiBindMsgVEL_SP(GUIDANCE_INDI_VEL_SP_ID, &vel_sp_ev, vel_sp_cb);
#ifdef GUIDANCE_INDI_SPECIFIC_FORCE_GAIN
#ifdef GUIDANCE_INDI_THRUST_DYNAMICS
thrust_dyn = GUIDANCE_INDI_THRUST_DYNAMICS;
#else
thrust_dyn = 1-exp(-GUIDANCE_INDI_THRUST_DYNAMICS_FREQ/PERIODIC_FREQUENCY);
#endif
#endif
float tau = 1.0/(2.0*M_PI*filter_cutoff);
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c
+5 -4
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@@ -170,11 +170,11 @@ float act_pref[INDI_NUM_ACT] = {0.0};
#ifdef STABILIZATION_INDI_ACT_DYN
#warning STABILIZATION_INDI_ACT_DYN is deprecated, use STABILIZATION_INDI_ACT_FREQ instead.
#warning You now have to define the continuous time corner frequency in rad/s of the actuators.
#warning "Use -log(1 - old_number) * PERIODIC_FREQUENCY to compute it from the old values."
float act_first_order_cutoff[INDI_NUM_ACT] = STABILIZATION_INDI_ACT_DYN;
float act_dyn_discrete[INDI_NUM_ACT];
#warning "Use -ln(1 - old_number) * PERIODIC_FREQUENCY to compute it from the old values."
float act_dyn_discrete[INDI_NUM_ACT] = STABILIZATION_INDI_ACT_DYN;
#else
float act_dyn_discrete[INDI_NUM_ACT] = STABILIZATION_INDI_ACT_FREQ;
float act_first_order_cutoff[INDI_NUM_ACT] = STABILIZATION_INDI_ACT_FREQ;
float act_dyn_discrete[INDI_NUM_ACT]; // will be computed from freq at init
#endif
#ifdef STABILIZATION_INDI_WLS_PRIORITIES
@@ -350,6 +350,7 @@ void stabilization_indi_init(void)
init_filters();
int8_t i;
// If the deprecated STABILIZATION_INDI_ACT_DYN is used, convert it to the new FREQUENCY format
#ifdef STABILIZATION_INDI_ACT_FREQ
// Initialize the array of pointers to the rows of g1g2
for (i = 0; i < INDI_NUM_ACT; i++) {
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi_simple.c
+1 -1
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@@ -44,7 +44,7 @@
#if defined(STABILIZATION_INDI_ACT_DYN_P) && !defined(STABILIZATION_INDI_ACT_DYN_Q) && !defined(STABILIZATION_INDI_ACT_DYN_R)
#warning STABILIZATION_INDI_ACT_DYN is deprecated, use STABILIZATION_INDI_ACT_FREQ instead.
#warning You now have to define the continuous time corner frequency in rad/s of the actuators.
#warning "Use -log(1 - old_number) * PERIODIC_FREQUENCY to compute it from the old values."
#warning "Use -ln(1 - old_number) * PERIODIC_FREQUENCY to compute it from the old values."
#else
#if !defined(STABILIZATION_INDI_ACT_FREQ_P) && !defined(STABILIZATION_INDI_ACT_FREQ_Q) && !defined(STABILIZATION_INDI_ACT_FREQ_R)
#warning You have to define the corner frequency of the first order actuator dynamics model in rad/s!