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HitL - some fixes to prevent EventSystem Overload

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Hitl IL2 - prevent NaN numbers from getting produced


git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2085 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
corvus 2010-11-06 15:17:33 +00:00 committed by corvus
parent 489e22f0ba
commit 800eb5320e
2 changed files with 9 additions and 3 deletions
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6
ground/src/plugins/hitlnew/il2simulator.cpp
View File

@ -220,6 +220,9 @@ void IL2Simulator::processUpdate(const QByteArray& inp)
current.Y = old.Y + (current.dY*current.dT);
// accelerations (filtered)
if (isnan(old.ddX) || isinf(old.ddX)) old.ddX=0;
if (isnan(old.ddY) || isinf(old.ddY)) old.ddY=0;
if (isnan(old.ddZ) || isinf(old.ddZ)) old.ddZ=0;
#define SPEED_FILTER 10
current.ddX = ((current.dX-old.dX)/current.dT + SPEED_FILTER * (old.ddX)) / (SPEED_FILTER+1);
current.ddY = ((current.dY-old.dY)/current.dT + SPEED_FILTER * (old.ddY)) / (SPEED_FILTER+1);
@ -227,6 +230,9 @@ void IL2Simulator::processUpdate(const QByteArray& inp)
#define TURN_FILTER 10
// turn speeds (filtered)
if (isnan(old.dAzimuth) || isinf(old.dAzimuth)) old.dAzimuth=0;
if (isnan(old.dPitch) || isinf(old.dPitch)) old.dPitch=0;
if (isnan(old.dRoll) || isinf(old.dRoll)) old.dRoll=0;
current.dAzimuth = (angleDifference(current.azimuth,old.azimuth)/current.dT + TURN_FILTER * (old.dAzimuth)) / (TURN_FILTER+1);
current.dPitch = (angleDifference(current.pitch,old.pitch)/current.dT + TURN_FILTER * (old.dPitch)) / (TURN_FILTER+1);
current.dRoll = (angleDifference(current.roll,old.roll)/current.dT + TURN_FILTER * (old.dRoll)) / (TURN_FILTER+1);

6
ground/src/plugins/hitlnew/simulator.cpp
View File

@ -204,14 +204,14 @@ void Simulator::receiveUpdate()
void Simulator::setupObjects()
{
setupInputObject(actDesired, 50);
setupInputObject(actDesired, 100);
setupOutputObject(altActual, 250);
setupOutputObject(attActual, 50);
setupOutputObject(attActual, 100);
setupOutputObject(gpsPos, 250);
setupOutputObject(posActual, 250);
setupOutputObject(velActual, 250);
setupOutputObject(posHome, 1000);
setupOutputObject(attRaw, 50);
setupOutputObject(attRaw, 100);
}
void Simulator::setupInputObject(UAVObject* obj, int updatePeriod)