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Code Issues Releases Activity

Actuator: Fixed uninitialised variables

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1857 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
les 2010-10-03 18:37:07 +00:00 committed by les
parent 1931c75a4c
commit 11cf24a312
1 changed files with 61 additions and 54 deletions
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59
flight/OpenPilot/Modules/Actuator/actuator.c
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@ -56,6 +56,11 @@
static xQueueHandle queue;
static xTaskHandle taskHandle;
static float lastResult[MAX_MIX_ACTUATORS]={0,0,0,0,0,0,0,0};
static float lastFilteredResult[MAX_MIX_ACTUATORS]={0,0,0,0,0,0,0,0};
static float filterAccumulator[MAX_MIX_ACTUATORS]={0,0,0,0,0,0,0,0};
// Private functions
static void actuatorTask(void* parameters);
static int16_t scaleChannel(float value, int16_t max, int16_t min, int16_t neutral);
@ -134,12 +139,12 @@ static void actuatorTask(void* parameters)
lastSysTime = xTaskGetTickCount();
while (1)
{
// Wait until the ActuatorDesired object is updated, if a timeout then go to failsafe
if ( xQueueReceive(queue, &ev, FAILSAFE_TIMEOUT_MS / portTICK_RATE_MS) != pdTRUE )
{
setFailsafe();
continue;
}
// Wait until the ActuatorDesired object is updated, if a timeout then go to failsafe
if ( xQueueReceive(queue, &ev, FAILSAFE_TIMEOUT_MS / portTICK_RATE_MS) != pdTRUE )
{
setFailsafe();
continue;
}
// Check how long since last update
thisSysTime = xTaskGetTickCount();
@ -188,6 +193,8 @@ static void actuatorTask(void* parameters)
mixers[ct].type == MIXERSETTINGS_MIXER0TYPE_MOTOR)
{
command.Channel[ct] = settings.ChannelMin[ct]; //force zero throttle
filterAccumulator[ct] = 0;
lastResult[ct] = 0;
}else
{
command.Channel[ct] = scaleChannel(status[ct],
@ -221,16 +228,13 @@ static void actuatorTask(void* parameters)
float ProcessMixer(const int index, const float curve1, const float curve2,
MixerSettingsData* mixerSettings, ActuatorDesiredData* desired, const float period)
{
static float lastResult[MAX_MIX_ACTUATORS]={0,0,0,0,0,0,0,0};
static float lastFilteredResult[MAX_MIX_ACTUATORS]={0,0,0,0,0,0,0,0};
static float filterAccumulator[MAX_MIX_ACTUATORS]={0,0,0,0,0,0,0,0};
Mixer_t * mixers = (Mixer_t *)&mixerSettings->Mixer0Type; //pointer to array of mixers in UAVObjects
Mixer_t * mixer = &mixers[index];
float result = (mixer->matrix[MIXERSETTINGS_MIXER0VECTOR_THROTTLECURVE1] / 128.0f * curve1) +
(mixer->matrix[MIXERSETTINGS_MIXER0VECTOR_THROTTLECURVE2] / 128.0f * curve2) +
(mixer->matrix[MIXERSETTINGS_MIXER0VECTOR_ROLL] / 128.0f * desired->Roll) +
(mixer->matrix[MIXERSETTINGS_MIXER0VECTOR_PITCH] / 128.0f * desired->Pitch) +
(mixer->matrix[MIXERSETTINGS_MIXER0VECTOR_YAW] / 128.0f * desired->Yaw);
float result = ((mixer->matrix[MIXERSETTINGS_MIXER0VECTOR_THROTTLECURVE1] / 128.0f) * curve1) +
((mixer->matrix[MIXERSETTINGS_MIXER0VECTOR_THROTTLECURVE2] / 128.0f) * curve2) +
((mixer->matrix[MIXERSETTINGS_MIXER0VECTOR_ROLL] / 128.0f) * desired->Roll) +
((mixer->matrix[MIXERSETTINGS_MIXER0VECTOR_PITCH] / 128.0f) * desired->Pitch) +
((mixer->matrix[MIXERSETTINGS_MIXER0VECTOR_YAW] / 128.0f) * desired->Yaw);
if(mixer->type == MIXERSETTINGS_MIXER0TYPE_MOTOR)
{
if(result < 0) //idle throttle
@ -243,22 +247,25 @@ float ProcessMixer(const int index, const float curve1, const float curve2,
accumulator += (result - lastResult[index]) * mixerSettings->FeedForward;
lastResult[index] = result;
result += accumulator;
if(accumulator > 0)
if(period !=0)
{
float filter = mixerSettings->AccelTime / period;
if(filter <1)
if(accumulator > 0)
{
filter = 1;
}
accumulator -= accumulator / filter;
}else
{
float filter = mixerSettings->DecelTime / period;
if(filter <1)
float filter = mixerSettings->AccelTime / period;
if(filter <1)
{
filter = 1;
}
accumulator -= accumulator / filter;
}else
{
filter = 1;
float filter = mixerSettings->DecelTime / period;
if(filter <1)
{
filter = 1;
}
accumulator -= accumulator / filter;
}
accumulator -= accumulator / filter;
}
filterAccumulator[index] = accumulator;
result += accumulator;