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Code Issues Releases Activity

OP-1287 improved deadband implementation to be jump-free

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This commit is contained in:
Corvus Corax 2014-06-10 09:59:37 +02:00
parent 78acaf49ad
commit f89557c045
1 changed files with 13 additions and 11 deletions
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24
flight/libraries/plans.c
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@ -177,29 +177,31 @@ void plan_setup_PositionVarioNSEW()
}
#define DEADBAND 0.1f
static bool normalizeDeadband(float controlVector[4])
{
bool moving = false;
// roll, pitch, yaw between -1 and +1
// thrust between 0 and 1 mapped to -1 to +1
controlVector[3] = (2.0f * controlVector[3]) - 1.0f;
int t;
for (t = 0; t < 3; t++) {
controlVector[t] = boundf(controlVector[t], -1.0f, 1.0f);
if (fabsf(controlVector[t]) > 0.1f) {
for (t = 0; t < 4; t++) {
if (controlVector[t] < -DEADBAND) {
moving = true;
controlVector[t] += DEADBAND;
} else if (controlVector[t] > DEADBAND) {
moving = true;
controlVector[t] -= DEADBAND;
} else {
controlVector[t] = 0.0f;
}
// deadband has been cut out, scale value back to [-1,+1]
controlVector[t] *= (1.0f / (1.0f - DEADBAND));
controlVector[t] = boundf(controlVector[t], -1.0f, 1.0f);
}
// thrust between 0 and +1
controlVector[3] = boundf(controlVector[3], 0.0f, 1.0f);
controlVector[3] = (2.0f * controlVector[3]) - 1.0f;
if (fabsf(controlVector[3]) > 0.2f) { // bigger deadband on thrust due to 2.0f factor above
moving = true;
} else {
controlVector[3] = 0.0f;
}
return moving;
}