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Code Issues Releases Activity

LP-340 stop NAN propagation at the start of tuning

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This commit is contained in:
Cliff Geerdes 2016-07-19 17:41:58 -04:00
parent a365578385
commit 792aae6f9b
1 changed files with 30 additions and 24 deletions
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54
flight/modules/AutoTune/autotune.c
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@ -420,36 +420,42 @@ static void AutoTuneTask(__attribute__((unused)) void *parameters)
diffTime = xTaskGetTickCount() - lastUpdateTime;
// after 2 seconds start systemident flight mode
if (diffTime > SYSTEMIDENT_TIME_DELAY_MS) {
// load default tune and clean up any NANs from previous tune
InitSystemIdent(true);
AfInit(gX, gP);
// and write it out to the UAVO so innerloop can see the default values
UpdateSystemIdentState(gX, NULL, 0.0f, 0, 0, 0.0f);
// before starting SystemIdent stabilization mode
doingIdent = true;
// after an additional .5 seconds start capturing data
if (diffTime > INIT_TIME_DELAY2_MS) {
// Reset save status
// save SI data even if partial or bad, aids in diagnostics
saveSiNeeded = true;
// don't save PIDs until data gathering is complete
// and the complete data has been sanity checked
savePidNeeded = false;
InitSystemIdent(true);
AfInit(gX, gP);
UpdateSystemIdentState(gX, NULL, 0.0f, 0, 0, 0.0f);
measureTime = (uint32_t)systemIdentSettings.TuningDuration * (uint32_t)1000;
state = AT_START;
}
state = AT_START;
}
break;
case AT_START:
lastTime = PIOS_DELAY_GetRaw();
diffTime = xTaskGetTickCount() - lastUpdateTime;
doingIdent = true;
/* Drain the queue of all current data */
xQueueReset(atQueue);
/* And reset the point spill counter */
updateCounter = 0;
atPointsSpilled = 0;
throttleAccumulator = 0;
alpha = 0.0f;
state = AT_RUN;
lastUpdateTime = xTaskGetTickCount();
// after an additional short delay, start capturing data
if (diffTime > INIT_TIME_DELAY2_MS) {
// Reset save status
// save SI data even if partial or bad, aids in diagnostics
saveSiNeeded = true;
// don't save PIDs until data gathering is complete
// and the complete data has been sanity checked
savePidNeeded = false;
// get the tuning duration in case the user just changed it
measureTime = (uint32_t)systemIdentSettings.TuningDuration * (uint32_t)1000;
// init the "previous packet timestamp"
lastTime = PIOS_DELAY_GetRaw();
/* Drain the queue of all current data */
xQueueReset(atQueue);
/* And reset the point spill counter */
updateCounter = 0;
atPointsSpilled = 0;
throttleAccumulator = 0;
alpha = 0.0f;
state = AT_RUN;
lastUpdateTime = xTaskGetTickCount();
}
break;
case AT_RUN: