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Fix int32_t microseconds overflow in navigation.

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This commit is contained in:
pieniacy 2021-04-06 21:04:35 +02:00
parent c26a676bb1
commit 8df415d544
15 changed files with 87 additions and 74 deletions
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16
src/main/navigation/navigation_fixedwing.c
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@ -171,11 +171,11 @@ void applyFixedWingAltitudeAndThrottleController(timeUs_t currentTimeUs)
if ((posControl.flags.estAltStatus >= EST_USABLE)) {
if (posControl.flags.verticalPositionDataNew) {
const timeDelta_t deltaMicrosPositionUpdate = currentTimeUs - previousTimePositionUpdate;
const timeDeltaLarge_t deltaMicrosPositionUpdate = currentTimeUs - previousTimePositionUpdate;
previousTimePositionUpdate = currentTimeUs;
// Check if last correction was too log ago - ignore this update
if (deltaMicrosPositionUpdate < HZ2US(MIN_POSITION_UPDATE_RATE_HZ)) {
// Check if last correction was not too long ago
if (deltaMicrosPositionUpdate < MAX_POSITION_UPDATE_INTERVAL_US) {
updateAltitudeVelocityAndPitchController_FW(deltaMicrosPositionUpdate);
}
else {
@ -401,10 +401,10 @@ void applyFixedWingPositionController(timeUs_t currentTimeUs)
if ((posControl.flags.estPosStatus >= EST_USABLE)) {
// If we have new position - update velocity and acceleration controllers
if (posControl.flags.horizontalPositionDataNew) {
const timeDelta_t deltaMicrosPositionUpdate = currentTimeUs - previousTimePositionUpdate;
const timeDeltaLarge_t deltaMicrosPositionUpdate = currentTimeUs - previousTimePositionUpdate;
previousTimePositionUpdate = currentTimeUs;
if (deltaMicrosPositionUpdate < HZ2US(MIN_POSITION_UPDATE_RATE_HZ)) {
if (deltaMicrosPositionUpdate < MAX_POSITION_UPDATE_INTERVAL_US) {
// Calculate virtual position target at a distance of forwardVelocity * HZ2S(POSITION_TARGET_UPDATE_RATE_HZ)
// Account for pilot's roll input (move position target left/right at max of max_manual_speed)
// POSITION_TARGET_UPDATE_RATE_HZ should be chosen keeping in mind that position target shouldn't be reached until next pos update occurs
@ -440,10 +440,10 @@ int16_t applyFixedWingMinSpeedController(timeUs_t currentTimeUs)
if ((posControl.flags.estPosStatus >= EST_USABLE)) {
// If we have new position - update velocity and acceleration controllers
if (posControl.flags.horizontalPositionDataNew) {
const timeDelta_t deltaMicrosPositionUpdate = currentTimeUs - previousTimePositionUpdate;
const timeDeltaLarge_t deltaMicrosPositionUpdate = currentTimeUs - previousTimePositionUpdate;
previousTimePositionUpdate = currentTimeUs;
if (deltaMicrosPositionUpdate < HZ2US(MIN_POSITION_UPDATE_RATE_HZ)) {
if (deltaMicrosPositionUpdate < MAX_POSITION_UPDATE_INTERVAL_US) {
float velThrottleBoost = (NAV_FW_MIN_VEL_SPEED_BOOST - posControl.actualState.velXY) * NAV_FW_THROTTLE_SPEED_BOOST_GAIN * US2S(deltaMicrosPositionUpdate);
// If we are in the deadband of 50cm/s - don't update speed boost
@ -473,7 +473,7 @@ int16_t applyFixedWingMinSpeedController(timeUs_t currentTimeUs)
int16_t fixedWingPitchToThrottleCorrection(int16_t pitch, timeUs_t currentTimeUs)
{
static timeUs_t previousTimePitchToThrCorr = 0;
const timeDelta_t deltaMicrosPitchToThrCorr = currentTimeUs - previousTimePitchToThrCorr;
const timeDeltaLarge_t deltaMicrosPitchToThrCorr = currentTimeUs - previousTimePitchToThrCorr;
previousTimePitchToThrCorr = currentTimeUs;
static pt1Filter_t pitchToThrFilterState;