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main merge from develop for v10.1.0 minor update #324

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merged 7 commits into from
May 29, 2024
Merged

main merge from develop for v10.1.0 minor update #324

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13161d6
Add NaN assertion for PID
200km May 28, 2024
132dfe6
ADd comment
200km May 28, 2024
7ac725e
Add NaN assertion for z filter
200km May 28, 2024
8fdef02
Add NaN assertion for spike filter
200km May 28, 2024
d76513e
Fix to keep last value
200km May 28, 2024
8c7c308
Add EL for NaN check
200km May 29, 2024
03d653f
Merge pull request #323 from ut-issl/feature/add-assertion-nan
200km May 29, 2024
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8 changes: 8 additions & 0 deletions src/src_user/Library/SignalProcess/spike_filter.c
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Original file line number Diff line number Diff line change
Expand Up @@ -66,6 +66,14 @@ C2A_MATH_ERROR SPIKE_FILTER_calc_output_uint32(SpikeFilter* filter, uint32_t* ou

C2A_MATH_ERROR SPIKE_FILTER_calc_output_double(SpikeFilter* filter, double* output, const double input)
{
// NAN確認
C2A_MATH_ERROR ret = C2A_MATH_check_nan_inf_double(input);
if (ret != C2A_MATH_ERROR_OK)
{
*output = filter->last_accept_val_;
return C2A_MATH_ERROR_NAN;
}

C2A_MATH_ERROR judgement_result = C2A_MATH_ERROR_OK;

double diff = input - filter->last_accept_val_;
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11 changes: 10 additions & 1 deletion src/src_user/Library/SignalProcess/z_filter.c
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Expand Up @@ -8,7 +8,7 @@

#include <math.h>
#include <src_user/Library/math_constants.h>

#include <src_core/System/EventManager/event_logger.h>

//!< bilinear transformation
static C2A_MATH_ERROR Z_FILTER_bilinear_trans_(ZFilter* filter,
Expand Down Expand Up @@ -157,6 +157,15 @@ float Z_FILTER_calc_output(ZFilter* filter, const float input)

double Z_FILTER_calc_output_double(ZFilter* filter, const double input)
{
// NAN確認
C2A_MATH_ERROR ret = C2A_MATH_check_nan_inf_double(input);
if (ret != C2A_MATH_ERROR_OK)
{
// TODO: IDは現状テキトウな値なので、修正する(今はアプリIDと被らない大きな値にしている。)
EL_record_event(EL_GROUP_CALCULATION_ERROR, 201, EL_ERROR_LEVEL_LOW, (uint32_t)ret);
return filter->output_previous[0];
}

double output_d = input;

switch (filter->order)
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12 changes: 12 additions & 0 deletions src/src_user/Library/pid_control.c
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Expand Up @@ -9,6 +9,7 @@
#include <math.h>

#include <src_core/System/TimeManager/time_manager.h>
#include <src_core/System/EventManager/event_logger.h>

#include "math_constants.h"

Expand Down Expand Up @@ -76,6 +77,17 @@ void PID_CONTROL_calc_output(PidControl* pid_control, const float error)
pid_control->gains.d_gain * pid_control->d_error;
pid_control->pre_error = pid_control->error;

// NAN確認
C2A_MATH_ERROR ret = C2A_MATH_check_nan_inf(pid_control->control_output);
if (ret != C2A_MATH_ERROR_OK)
{
pid_control->control_output = 0.0f;
PID_CONTROL_reset_integral_error(pid_control);
pid_control->pre_error = 0.0f;
// TODO: IDは現状テキトウな値なので、修正する(今はアプリIDと被らない大きな値にしている。)
EL_record_event(EL_GROUP_CALCULATION_ERROR, 200, EL_ERROR_LEVEL_LOW, (uint32_t)ret);
}

return;
}

Expand Down
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