vtol_att avoid unnecessary work and delete unused

msg/vtol_vehicle_status.msg

@@ -4,11 +4,9 @@ uint8 VEHICLE_VTOL_STATE_TRANSITION_TO_FW = 1
 uint8 VEHICLE_VTOL_STATE_TRANSITION_TO_MC = 2
 uint8 VEHICLE_VTOL_STATE_MC = 3
 uint8 VEHICLE_VTOL_STATE_FW = 4
-uint8 VEHICLE_VTOL_STATE_EXTERNAL = 5
 
 bool vtol_in_rw_mode			# true: vtol vehicle is in rotating wing mode
 bool vtol_in_trans_mode
 bool in_transition_to_fw		# True if VTOL is doing a transition from MC to FW
 bool vtol_transition_failsafe	# vtol in transition failsafe mode
 bool fw_permanent_stab			# In fw mode stabilize attitude even if in manual mode
-float32 airspeed_tot			# Estimated airspeed over control surfaces

src/modules/sdlog2/sdlog2.c

@@ -1567,7 +1567,6 @@ int sdlog2_thread_main(int argc, char *argv[])
 			/* --- VTOL VEHICLE STATUS --- */
 			if(copy_if_updated(ORB_ID(vtol_vehicle_status), &subs.vtol_status_sub, &buf.vtol_status)) {
 				log_msg.msg_type = LOG_VTOL_MSG;
-				log_msg.body.log_VTOL.airspeed_tot = buf.vtol_status.airspeed_tot;
 				log_msg.body.log_VTOL.rw_mode = buf.vtol_status.vtol_in_rw_mode;
 				log_msg.body.log_VTOL.trans_mode = buf.vtol_status.vtol_in_trans_mode;
 				log_msg.body.log_VTOL.failsafe_mode = buf.vtol_status.vtol_transition_failsafe;

src/modules/sdlog2/sdlog2_messages.h

@@ -466,7 +466,6 @@ struct log_ENCD_s {
 /* --- VTOL - VTOL VEHICLE STATUS */
 #define LOG_VTOL_MSG 43
 struct log_VTOL_s {
-	float airspeed_tot;
 	uint8_t rw_mode;
 	uint8_t trans_mode;
 	uint8_t failsafe_mode;

src/modules/vtol_att_control/tailsitter.cpp

@@ -50,13 +50,10 @@
 
 Tailsitter::Tailsitter(VtolAttitudeControl *attc) :
 	VtolType(attc),
-	_airspeed_tot(0.0f),
 	_min_front_trans_dur(0.5f),
 	_thrust_transition_start(0.0f),
 	_yaw_transition(0.0f),
-	_pitch_transition_start(0.0f),
+	_pitch_transition_start(0.0f)
-	_loop_perf(perf_alloc(PC_ELAPSED, "vtol_att_control-tailsitter")),
-	_nonfinite_input_perf(perf_alloc(PC_COUNT, "vtol att control-tailsitter nonfinite input"))
 {
 	_vtol_schedule.flight_mode = MC_MODE;
 	_vtol_schedule.transition_start = 0;
@@ -133,7 +130,6 @@ void Tailsitter::update_vtol_state()
 
 	if (!_attc->is_fixed_wing_requested()) {
 
-
 		switch (_vtol_schedule.flight_mode) { // user switchig to MC mode
 		case MC_MODE:
 			break;
@@ -334,9 +330,6 @@ void Tailsitter::update_transition_state()
 
 	}
 
-
-
-
 	_mc_roll_weight = math::constrain(_mc_roll_weight, 0.0f, 1.0f);
 	_mc_yaw_weight = math::constrain(_mc_yaw_weight, 0.0f, 1.0f);
 	_mc_pitch_weight = math::constrain(_mc_pitch_weight, 0.0f, 1.0f);
@@ -358,58 +351,6 @@ void Tailsitter::waiting_on_tecs()
 	_v_att_sp->thrust = _thrust_transition;
 }
 
-void Tailsitter::calc_tot_airspeed()
-{
-	float airspeed = math::max(1.0f, _airspeed->indicated_airspeed_m_s);	// prevent numerical drama
-	// calculate momentary power of one engine
-	float P = _batt_status->voltage_filtered_v * _batt_status->current_a / _params->vtol_motor_count;
-	P = math::constrain(P, 1.0f, _params->power_max);
-	// calculate prop efficiency
-	float power_factor = 1.0f - P * _params->prop_eff / _params->power_max;
-	float eta = (1.0f / (1 + expf(-0.4f * power_factor * airspeed)) - 0.5f) * 2.0f;
-	eta = math::constrain(eta, 0.001f, 1.0f);	// live on the safe side
-	// calculate induced airspeed by propeller
-	float v_ind = (airspeed / eta - airspeed) * 2.0f;
-	// calculate total airspeed
-	float airspeed_raw = airspeed + v_ind;
-	// apply low-pass filter
-	_airspeed_tot = _params->arsp_lp_gain * (_airspeed_tot - airspeed_raw) + airspeed_raw;
-}
-
-void Tailsitter::scale_mc_output()
-{
-	// scale around tuning airspeed
-	float airspeed;
-	calc_tot_airspeed();	// estimate air velocity seen by elevons
-
-	// if airspeed is not updating, we assume the normal average speed
-	if (bool nonfinite = !PX4_ISFINITE(_airspeed->indicated_airspeed_m_s) ||
-			     hrt_elapsed_time(&_airspeed->timestamp) > 1e6) {
-		airspeed = _params->mc_airspeed_trim;
-
-		if (nonfinite) {
-			perf_count(_nonfinite_input_perf);
-		}
-
-	} else {
-		airspeed = _airspeed_tot;
-		airspeed = math::constrain(airspeed, _params->mc_airspeed_min, _params->mc_airspeed_max);
-	}
-
-	_vtol_vehicle_status->airspeed_tot = airspeed;	// save value for logging
-	/*
-	 * For scaling our actuators using anything less than the min (close to stall)
-	 * speed doesn't make any sense - its the strongest reasonable deflection we
-	 * want to do in flight and its the baseline a human pilot would choose.
-	 *
-	 * Forcing the scaling to this value allows reasonable handheld tests.
-	 */
-	float airspeed_scaling = _params->mc_airspeed_trim / ((airspeed < _params->mc_airspeed_min) ? _params->mc_airspeed_min :
-				 airspeed);
-	_actuators_mc_in->control[1] = math::constrain(_actuators_mc_in->control[1] * airspeed_scaling * airspeed_scaling,
-				       -1.0f, 1.0f);
-}
-
 void Tailsitter::update_mc_state()
 {
 	VtolType::update_mc_state();
@@ -504,9 +445,5 @@ void Tailsitter::fill_actuator_outputs()
 		_actuators_out_1->control[actuator_controls_s::INDEX_THROTTLE] =
 			_actuators_fw_in->control[actuator_controls_s::INDEX_THROTTLE];
 		break;
-
-	case EXTERNAL:
-		// not yet implemented, we are switching brute force at the moment
-		break;
 	}
 }

src/modules/vtol_att_control/tailsitter.h

@@ -96,8 +96,6 @@ private:
 		hrt_abstime transition_start;	/**< absoulte time at which front transition started */
 	} _vtol_schedule;
 
-	float _airspeed_tot; 		/** speed estimation for propwash controlled surfaces */
-
 	/** not sure about it yet ?! **/
 	float _min_front_trans_dur;	/**< min possible time in which rotors are rotated into the first position */
 
@@ -105,20 +103,6 @@ private:
 	float _yaw_transition;	// yaw angle in which transition will take place
 	float _pitch_transition_start;  // pitch angle at the start of transition (tailsitter)
 
-
-	/** should this anouncement stay? **/
-	perf_counter_t	_loop_perf;			/**< loop performance counter */
-	perf_counter_t	_nonfinite_input_perf;		/**< performance counter for non finite input */
-
-	/**
-	 * Speed estimation for propwash controlled surfaces.
-	 */
-	void calc_tot_airspeed();
-
-
-	/** is this one still needed? */
-	void scale_mc_output();
-
 	/**
 	 * Update parameters.
 	 */

src/modules/vtol_att_control/tailsitter_params.c

@@ -39,8 +39,6 @@
  * @author David Vorsin     <davidvorsin@gmail.com>
  */
 
-#include <systemlib/param/param.h>
-
 /**
  * Duration of front transition phase 2
  *

src/modules/vtol_att_control/tiltrotor_params.c

@@ -38,8 +38,6 @@
  * @author Roman Bapst <roman@px4.io>
  */
 
-#include <systemlib/param/param.h>
-
 /**
  * Position of tilt servo in mc mode
  *

src/modules/vtol_att_control/vtol_att_control_main.h

@@ -59,13 +59,10 @@
 #include <drivers/drv_pwm_output.h>
 #include <lib/geo/geo.h>
 #include <lib/mathlib/mathlib.h>
-#include <systemlib/err.h>
 #include <systemlib/param/param.h>
-#include <systemlib/systemlib.h>
 
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/airspeed.h>
-#include <uORB/topics/battery_status.h>
 #include <uORB/topics/manual_control_setpoint.h>
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/tecs_status.h>
@@ -80,7 +77,6 @@
 #include <uORB/topics/position_setpoint_triplet.h>
 #include <uORB/topics/vehicle_rates_setpoint.h>
 #include <uORB/topics/vtol_vehicle_status.h>
-#include <uORB/uORB.h>
 
 #include "tiltrotor.h"
 #include "tailsitter.h"
@@ -101,104 +97,90 @@ public:
 	bool is_fixed_wing_requested();
 	void abort_front_transition(const char *reason);
 
-	struct vehicle_attitude_s 			*get_att() {return &_v_att;}
+	struct actuator_controls_s 			*get_actuators_fw_in() {return &_actuators_fw_in;}
-	struct vehicle_attitude_setpoint_s		*get_att_sp() {return &_v_att_sp;}
+	struct actuator_controls_s 			*get_actuators_mc_in() {return &_actuators_mc_in;}
-	struct vehicle_attitude_setpoint_s 		*get_mc_virtual_att_sp() {return &_mc_virtual_att_sp;}
-	struct vehicle_attitude_setpoint_s 		*get_fw_virtual_att_sp() {return &_fw_virtual_att_sp;}
-	struct vehicle_rates_setpoint_s 		*get_rates_sp() {return &_v_rates_sp;}
-	struct vehicle_rates_setpoint_s 		*get_mc_virtual_rates_sp() {return &_mc_virtual_v_rates_sp;}
-	struct vehicle_rates_setpoint_s 		*get_fw_virtual_rates_sp() {return &_fw_virtual_v_rates_sp;}
-	struct manual_control_setpoint_s 		*get_manual_control_sp() {return &_manual_control_sp;}
-	struct vehicle_control_mode_s 			*get_control_mode() {return &_v_control_mode;}
-	struct vtol_vehicle_status_s			*get_vtol_vehicle_status() {return &_vtol_vehicle_status;}
 	struct actuator_controls_s 			*get_actuators_out0() {return &_actuators_out_0;}
 	struct actuator_controls_s 			*get_actuators_out1() {return &_actuators_out_1;}
-	struct actuator_controls_s 			*get_actuators_mc_in() {return &_actuators_mc_in;}
+	struct airspeed_s 				*get_airspeed() {return &_airspeed;}
-	struct actuator_controls_s 			*get_actuators_fw_in() {return &_actuators_fw_in;}
+	struct position_setpoint_triplet_s		*get_pos_sp_triplet() {return &_pos_sp_triplet;}
+	struct tecs_status_s 				*get_tecs_status() {return &_tecs_status;}
+	struct vehicle_attitude_s 			*get_att() {return &_v_att;}
+	struct vehicle_attitude_setpoint_s		*get_att_sp() {return &_v_att_sp;}
+	struct vehicle_attitude_setpoint_s 		*get_fw_virtual_att_sp() {return &_fw_virtual_att_sp;}
+	struct vehicle_attitude_setpoint_s 		*get_mc_virtual_att_sp() {return &_mc_virtual_att_sp;}
+	struct vehicle_control_mode_s 			*get_control_mode() {return &_v_control_mode;}
+	struct vehicle_land_detected_s			*get_land_detected() {return &_land_detected;}
 	struct vehicle_local_position_s 		*get_local_pos() {return &_local_pos;}
 	struct vehicle_local_position_setpoint_s	*get_local_pos_sp() {return &_local_pos_sp;}
-	struct position_setpoint_triplet_s		*get_pos_sp_triplet() {return &_pos_sp_triplet;}
+	struct vtol_vehicle_status_s			*get_vtol_vehicle_status() {return &_vtol_vehicle_status;}
-	struct airspeed_s 				*get_airspeed() {return &_airspeed;}
-	struct battery_status_s 			*get_batt_status() {return &_batt_status;}
-	struct tecs_status_s 				*get_tecs_status() {return &_tecs_status;}
-	struct vehicle_land_detected_s			*get_land_detected() {return &_land_detected;}
 
 	struct Params 					*get_params() {return &_params;}
 
 
 private:
 //******************flags & handlers******************************************************
-	bool _task_should_exit;
+	bool	_task_should_exit{false};
-	int _control_task;		//task handle for VTOL attitude controller
+	int	_control_task{-1};		//task handle for VTOL attitude controller
-	orb_advert_t _mavlink_log_pub;	// mavlink log uORB handle
 
 	/* handlers for subscriptions */
-	int	_v_att_sub;				//vehicle attitude subscription
+	int	_actuator_inputs_fw{-1};	//topic on which the fw_att_controller publishes actuator inputs
-	int	_v_att_sp_sub;			//vehicle attitude setpoint subscription
+	int	_actuator_inputs_mc{-1};	//topic on which the mc_att_controller publishes actuator inputs
-	int	_mc_virtual_att_sp_sub;
+	int	_airspeed_sub{-1};			// airspeed subscription
-	int	_fw_virtual_att_sp_sub;
+	int	_fw_virtual_att_sp_sub{-1};
-	int	_mc_virtual_v_rates_sp_sub;		//vehicle rates setpoint subscription
+	int	_fw_virtual_v_rates_sp_sub{-1};		//vehicle rates setpoint subscription
-	int	_fw_virtual_v_rates_sp_sub;		//vehicle rates setpoint subscription
+	int	_land_detected_sub{-1};
-	int	_v_control_mode_sub;	//vehicle control mode subscription
+	int	_local_pos_sp_sub{-1};			// setpoint subscription
-	int	_params_sub;			//parameter updates subscription
+	int	_local_pos_sub{-1};			// sensor subscription
-	int	_manual_control_sp_sub;	//manual control setpoint subscription
+	int	_manual_control_sp_sub{-1};	//manual control setpoint subscription
-	int	_local_pos_sub;			// sensor subscription
+	int	_mc_virtual_att_sp_sub{-1};
-	int	_local_pos_sp_sub;			// setpoint subscription
+	int	_mc_virtual_v_rates_sp_sub{-1};		//vehicle rates setpoint subscription
-	int	_pos_sp_triplet_sub;			// local position setpoint subscription
+	int	_params_sub{-1};			//parameter updates subscription
-	int	_airspeed_sub;			// airspeed subscription
+	int	_pos_sp_triplet_sub{-1};			// local position setpoint subscription
-	int	_battery_status_sub;	// battery status subscription
+	int	_tecs_status_sub{-1};
-	int	_vehicle_cmd_sub;
+	int	_v_att_sp_sub{-1};			//vehicle attitude setpoint subscription
-	int	_tecs_status_sub;
+	int	_v_att_sub{-1};				//vehicle attitude subscription
-	int	_land_detected_sub;
+	int	_v_control_mode_sub{-1};	//vehicle control mode subscription
-
+	int	_vehicle_cmd_sub{-1};
-	int 	_actuator_inputs_mc;	//topic on which the mc_att_controller publishes actuator inputs
-	int 	_actuator_inputs_fw;	//topic on which the fw_att_controller publishes actuator inputs
 
 	//handlers for publishers
-	orb_advert_t	_actuators_0_pub;		//input for the mixer (roll,pitch,yaw,thrust)
+	orb_advert_t	_actuators_0_pub{nullptr};		//input for the mixer (roll,pitch,yaw,thrust)
-	orb_advert_t 	_actuators_1_pub;
+	orb_advert_t	_mavlink_log_pub{nullptr};	// mavlink log uORB handle
-	orb_advert_t	_vtol_vehicle_status_pub;
+	orb_advert_t	_v_att_sp_pub{nullptr};
-	orb_advert_t	_v_rates_sp_pub;
+	orb_advert_t	_v_cmd_ack_pub{nullptr};
-	orb_advert_t	_v_att_sp_pub;
+	orb_advert_t	_v_rates_sp_pub{nullptr};
-	orb_advert_t	_v_cmd_ack_pub;
+	orb_advert_t	_vtol_vehicle_status_pub{nullptr};
+	orb_advert_t 	_actuators_1_pub{nullptr};
 
 //*******************data containers***********************************************************
-	struct vehicle_attitude_s			_v_att;				//vehicle attitude
-	struct vehicle_attitude_setpoint_s		_v_att_sp;			//vehicle attitude setpoint
-	struct vehicle_attitude_setpoint_s 		_mc_virtual_att_sp;	// virtual mc attitude setpoint
-	struct vehicle_attitude_setpoint_s 		_fw_virtual_att_sp;	// virtual fw attitude setpoint
-	struct vehicle_rates_setpoint_s			_v_rates_sp;		//vehicle rates setpoint
-	struct vehicle_rates_setpoint_s 		_mc_virtual_v_rates_sp;		// virtual mc vehicle rates setpoint
-	struct vehicle_rates_setpoint_s 		_fw_virtual_v_rates_sp;		// virtual fw vehicle rates setpoint
-	struct manual_control_setpoint_s		_manual_control_sp; //manual control setpoint
-	struct vehicle_control_mode_s			_v_control_mode;	//vehicle control mode
-	struct vtol_vehicle_status_s 			_vtol_vehicle_status;
-	struct actuator_controls_s			_actuators_out_0;	//actuator controls going to the mc mixer
-	struct actuator_controls_s			_actuators_out_1;	//actuator controls going to the fw mixer (used for elevons)
-	struct actuator_controls_s			_actuators_mc_in;	//actuator controls from mc_att_control
-	struct actuator_controls_s			_actuators_fw_in;	//actuator controls from fw_att_control
-	struct vehicle_local_position_s			_local_pos;
-	struct vehicle_local_position_setpoint_s	_local_pos_sp;
-	struct position_setpoint_triplet_s		_pos_sp_triplet;
-	struct airspeed_s 				_airspeed;			// airspeed
-	struct battery_status_s 			_batt_status; 		// battery status
-	struct vehicle_command_s			_vehicle_cmd;
-	struct tecs_status_s				_tecs_status;
-	struct vehicle_land_detected_s			_land_detected;
 
-	Params _params;	// struct holding the parameters
+	vehicle_attitude_setpoint_s		_v_att_sp{};			//vehicle attitude setpoint
+	vehicle_attitude_setpoint_s 		_fw_virtual_att_sp{};	// virtual fw attitude setpoint
+	vehicle_attitude_setpoint_s 		_mc_virtual_att_sp{};	// virtual mc attitude setpoint
+
+	actuator_controls_s			_actuators_fw_in{};	//actuator controls from fw_att_control
+	actuator_controls_s			_actuators_mc_in{};	//actuator controls from mc_att_control
+	actuator_controls_s			_actuators_out_0{};	//actuator controls going to the mc mixer
+	actuator_controls_s			_actuators_out_1{};	//actuator controls going to the fw mixer (used for elevons)
+
+	airspeed_s 				_airspeed{};			// airspeed
+	manual_control_setpoint_s		_manual_control_sp{}; //manual control setpoint
+	position_setpoint_triplet_s		_pos_sp_triplet{};
+	tecs_status_s				_tecs_status{};
+	vehicle_attitude_s			_v_att{};				//vehicle attitude
+	vehicle_command_s			_vehicle_cmd{};
+	vehicle_control_mode_s			_v_control_mode{};	//vehicle control mode
+	vehicle_land_detected_s			_land_detected{};
+	vehicle_local_position_s			_local_pos{};
+	vehicle_local_position_setpoint_s	_local_pos_sp{};
+	vtol_vehicle_status_s 			_vtol_vehicle_status{};
+
+	Params _params{};	// struct holding the parameters
 
 	struct {
 		param_t idle_pwm_mc;
 		param_t vtol_motor_count;
 		param_t vtol_fw_permanent_stab;
-		param_t mc_airspeed_min;
-		param_t mc_airspeed_trim;
-		param_t mc_airspeed_max;
 		param_t fw_pitch_trim;
-		param_t power_max;
-		param_t prop_eff;
-		param_t arsp_lp_gain;
 		param_t vtol_type;
 		param_t elevons_mc_lock;
 		param_t fw_min_alt;
@@ -210,45 +192,42 @@ private:
 		param_t wv_takeoff;
 		param_t wv_loiter;
 		param_t wv_land;
-	} _params_handles;
+	} _params_handles{};
 
 	/* for multicopters it is usual to have a non-zero idle speed of the engines
 	 * for fixed wings we want to have an idle speed of zero since we do not want
 	 * to waste energy when gliding. */
-	int _transition_command;
+	int _transition_command{vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC};
-	bool _abort_front_transition;
+	bool _abort_front_transition{false};
 
-	VtolType *_vtol_type = nullptr;	// base class for different vtol types
+	VtolType *_vtol_type{nullptr};	// base class for different vtol types
 
 //*****************Member functions***********************************************************************
 
 	void 		task_main();	//main task
 	static void	task_main_trampoline(int argc, char *argv[]);	//Shim for calling task_main from task_create.
 
+	void		land_detected_poll();
+	void		tecs_status_poll();
+	void		vehicle_attitude_poll();  //Check for attitude updates.
+	void		vehicle_cmd_poll();
 	void		vehicle_control_mode_poll();	//Check for changes in vehicle control mode.
 	void		vehicle_manual_poll();			//Check for changes in manual inputs.
-	void 		mc_virtual_att_sp_poll();
-	void 		fw_virtual_att_sp_poll();
-	void 		actuator_controls_mc_poll();	//Check for changes in mc_attitude_control output
 	void 		actuator_controls_fw_poll();	//Check for changes in fw_attitude_control output
-	void 		vehicle_rates_sp_mc_poll();
+	void 		actuator_controls_mc_poll();	//Check for changes in mc_attitude_control output
-	void 		vehicle_rates_sp_fw_poll();
+	void 		fw_virtual_att_sp_poll();
-	void 		vehicle_local_pos_poll();		// Check for changes in sensor values
+	void 		mc_virtual_att_sp_poll();
-	void 		vehicle_local_pos_sp_poll();		// Check for changes in setpoint values
 	void 		pos_sp_triplet_poll();		// Check for changes in position setpoint values
 	void 		vehicle_airspeed_poll();		// Check for changes in airspeed
-	void		vehicle_attitude_setpoint_poll();  //Check for attitude setpoint updates.
+	void 		vehicle_local_pos_poll();		// Check for changes in sensor values
-	void		vehicle_attitude_poll();  //Check for attitude updates.
+	void 		vehicle_local_pos_sp_poll();		// Check for changes in setpoint values
-	void 		vehicle_battery_poll();			// Check for battery updates
+
-	void		vehicle_cmd_poll();
-	void		tecs_status_poll();
-	void		land_detected_poll();
-	void 		parameters_update_poll();		//Check if parameters have changed
 	int 		parameters_update();			//Update local paraemter cache
+
 	void 		fill_mc_att_rates_sp();
 	void 		fill_fw_att_rates_sp();
+
 	void		handle_command();
-	void 		publish_att_sp();
 };
 
 #endif

src/modules/vtol_att_control/vtol_att_control_params.c

@@ -62,48 +62,6 @@ PARAM_DEFINE_INT32(VT_MOT_COUNT, 0);
  */
 PARAM_DEFINE_INT32(VT_IDLE_PWM_MC, 900);
 
-/**
- * Minimum airspeed in multicopter mode
- *
- * This is the minimum speed of the air flowing over the control surfaces.
- *
- * @unit m/s
- * @min 0.0
- * @max 30.0
- * @increment 0.5
- * @decimal 2
- * @group VTOL Attitude Control
- */
-PARAM_DEFINE_FLOAT(VT_MC_ARSPD_MIN, 10.0f);
-
-/**
- * Maximum airspeed in multicopter mode
- *
- * This is the maximum speed of the air flowing over the control surfaces.
- *
- * @unit m/s
- * @min 0.0
- * @max 30.0
- * @increment 0.5
- * @decimal 2
- * @group VTOL Attitude Control
- */
-PARAM_DEFINE_FLOAT(VT_MC_ARSPD_MAX, 30.0f);
-
-/**
- * Trim airspeed when in multicopter mode
- *
- * This is the airflow over the control surfaces for which no airspeed scaling is applied in multicopter mode.
- *
- * @unit m/s
- * @min 0.0
- * @max 30.0
- * @increment 0.5
- * @decimal 2
- * @group VTOL Attitude Control
- */
-PARAM_DEFINE_FLOAT(VT_MC_ARSPD_TRIM, 10.0f);
-
 /**
  * Permanent stabilization in fw mode
  *
@@ -128,47 +86,6 @@ PARAM_DEFINE_INT32(VT_FW_PERM_STAB, 0);
  */
 PARAM_DEFINE_FLOAT(VT_FW_PITCH_TRIM, 0.0f);
 
-/**
- * Motor max power
- *
- * Indicates the maximum power the motor is able to produce. Used to calculate
- * propeller efficiency map.
- *
- * @unit W
- * @min 1
- * @max 10000
- * @increment 1
- * @decimal 0
- * @group VTOL Attitude Control
- */
-PARAM_DEFINE_FLOAT(VT_POWER_MAX, 120.0f);
-
-/**
- * Propeller efficiency parameter
- *
- * Influences propeller efficiency at different power settings. Should be tuned beforehand.
- *
- * @min 0.0
- * @max 1.0
- * @increment 0.01
- * @decimal 3
- * @group VTOL Attitude Control
- */
-PARAM_DEFINE_FLOAT(VT_PROP_EFF, 0.0f);
-
-/**
- * Total airspeed estimate low-pass filter gain
- *
- * Gain for tuning the low-pass filter for the total airspeed estimate
- *
- * @min 0.0
- * @max 1.0
- * @increment 0.01
- * @decimal 3
- * @group VTOL Attitude Control
- */
-PARAM_DEFINE_FLOAT(VT_ARSP_LP_GAIN, 0.3f);
-
 /**
  * VTOL Type (Tailsitter=0, Tiltrotor=1, Standard=2)
  *

src/modules/vtol_att_control/vtol_type.cpp

@@ -54,10 +54,6 @@ VtolType::VtolType(VtolAttitudeControl *att_controller) :
 	_v_att_sp = _attc->get_att_sp();
 	_mc_virtual_att_sp = _attc->get_mc_virtual_att_sp();
 	_fw_virtual_att_sp = _attc->get_fw_virtual_att_sp();
-	_v_rates_sp = _attc->get_rates_sp();
-	_mc_virtual_v_rates_sp = _attc->get_mc_virtual_rates_sp();
-	_fw_virtual_v_rates_sp = _attc->get_fw_virtual_rates_sp();
-	_manual_control_sp = _attc->get_manual_control_sp();
 	_v_control_mode = _attc->get_control_mode();
 	_vtol_vehicle_status = _attc->get_vtol_vehicle_status();
 	_actuators_out_0 = _attc->get_actuators_out0();
@@ -67,7 +63,6 @@ VtolType::VtolType(VtolAttitudeControl *att_controller) :
 	_local_pos = _attc->get_local_pos();
 	_local_pos_sp = _attc->get_local_pos_sp();
 	_airspeed = _attc->get_airspeed();
-	_batt_status = _attc->get_batt_status();
 	_tecs_status = _attc->get_tecs_status();
 	_land_detected = _attc->get_land_detected();
 	_params = _attc->get_params();

src/modules/vtol_att_control/vtol_type.h

@@ -49,13 +49,7 @@
 struct Params {
 	int32_t idle_pwm_mc;			// pwm value for idle in mc mode
 	int32_t vtol_motor_count;		// number of motors
-	float mc_airspeed_min;		// min airspeed in multicoper mode (including prop-wash)
-	float mc_airspeed_trim;		// trim airspeed in multicopter mode
-	float mc_airspeed_max;		// max airpseed in multicopter mode
 	float fw_pitch_trim;		// trim for neutral elevon position in fw mode
-	float power_max;			// maximum power of one engine
-	float prop_eff;				// factor to calculate prop efficiency
-	float arsp_lp_gain;			// total airspeed estimate low pass gain
 	int32_t vtol_type;
 	int32_t elevons_mc_lock;		// lock elevons in multicopter mode
 	float fw_min_alt;			// minimum relative altitude for FW mode (QuadChute)
@@ -74,8 +68,7 @@ enum mode {
 	TRANSITION_TO_FW = 1,
 	TRANSITION_TO_MC = 2,
 	ROTARY_WING = 3,
-	FIXED_WING = 4,
+	FIXED_WING = 4
-	EXTERNAL = 5
 };
 
 enum vtol_type {
@@ -116,11 +109,6 @@ public:
 	 */
 	virtual void update_fw_state();
 
-	/**
-	 * Update external state.
-	 */
-	virtual void update_external_state() {}
-
 	/**
 	 * Write control values to actuator output topics.
 	 */
@@ -157,10 +145,6 @@ protected:
 	struct vehicle_attitude_setpoint_s	*_v_att_sp;			//vehicle attitude setpoint
 	struct vehicle_attitude_setpoint_s *_mc_virtual_att_sp;	// virtual mc attitude setpoint
 	struct vehicle_attitude_setpoint_s *_fw_virtual_att_sp;	// virtual fw attitude setpoint
-	struct vehicle_rates_setpoint_s 	*_v_rates_sp;		//vehicle rates setpoint
-	struct vehicle_rates_setpoint_s 	*_mc_virtual_v_rates_sp;		// virtual mc vehicle rates setpoint
-	struct vehicle_rates_setpoint_s 	*_fw_virtual_v_rates_sp;		// virtual fw vehicle rates setpoint
-	struct manual_control_setpoint_s	*_manual_control_sp; //manual control setpoint
 	struct vehicle_control_mode_s		*_v_control_mode;	//vehicle control mode
 	struct vtol_vehicle_status_s 		*_vtol_vehicle_status;
 	struct actuator_controls_s			*_actuators_out_0;			//actuator controls going to the mc mixer
@@ -170,7 +154,6 @@ protected:
 	struct vehicle_local_position_s			*_local_pos;
 	struct vehicle_local_position_setpoint_s	*_local_pos_sp;
 	struct airspeed_s 				*_airspeed;					// airspeed
-	struct battery_status_s 			*_batt_status; 				// battery status
 	struct tecs_status_s				*_tecs_status;
 	struct vehicle_land_detected_s			*_land_detected;