[rotorcraft] heading integration protection in RC-event #1174
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
The PSI += .... was highly depending on the RC-frame rate. With most RC this is not a problem but with variable message rates (e.g. rc_datalink dropping messages or joysticks sending too many frames) this line becomes dangerous. So measure the time between to calls to read_rc_setpoint function instead of using a fixed RC_UPDATE_FREQ. To prevent really weird things from happening, bound dt to 0.5s. Don't partuculariliy like that this pulls in the sys_time dependency here, but couldn't think of something better... should close #452
|
Ah, great so much welcomed, thx! |
|
@gautierhattenberger what do you think? |
|
The only addition I can see is to keep the possibility of a fixed |
|
Keeping possibility for fixed DT could be done, but I would say we add this only if someone actually needs it.... |
flixr
added a commit
that referenced
this pull request
Jun 11, 2015
…tion [rotorcraft] heading integration protection in RC-event The PSI += .... was highly depending on the RC-frame rate. With most RC this is not a problem but with variable message rates (e.g. rc_datalink dropping messages or joysticks sending too many frames) this line becomes dangerous. So measure the time between to calls to read_rc_setpoint function instead of using a fixed RC_UPDATE_FREQ. To prevent really weird things from happening, bound dt to 0.5s. fixes #452
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
The PSI += .... was highly depending on the RC-frame rate.
With most RC this is not a problem but with variable message rates (e.g. rc_datalink dropping messages or joysticks sending too many frames) this line becomes dangerous.
So measure the time between to calls to read_rc_setpoint function instead of using a fixed RC_UPDATE_FREQ.
To prevent really weird things from happening, bound dt to 0.5s.
Don't partuculariliy like that this pulls in the sys_time dependency here,
but couldn't think of something better...
should close #452