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FW delete unused yaw coordination parameters

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This commit is contained in:
Daniel Agar
2018-01-02 21:00:38 -05:00
committed by Lorenz Meier
parent 757d905089
commit c7b5a6f463
2 changed files with 0 additions and 43 deletions
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src/modules/fw_att_control/fw_att_control_main.cpp
-13
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@@ -176,9 +176,7 @@ private:
float y_i;
float y_ff;
float y_integrator_max;
float y_coordinated_min_speed;
float roll_to_yaw_ff;
int32_t y_coordinated_method;
float y_rmax;
bool w_en;
@@ -239,9 +237,7 @@ private:
param_t y_i;
param_t y_ff;
param_t y_integrator_max;
param_t y_coordinated_min_speed;
param_t roll_to_yaw_ff;
param_t y_coordinated_method;
param_t y_rmax;
param_t w_en;
@@ -436,9 +432,6 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
_parameter_handles.airspeed_trim = param_find("FW_AIRSPD_TRIM");
_parameter_handles.airspeed_max = param_find("FW_AIRSPD_MAX");
_parameter_handles.y_coordinated_min_speed = param_find("FW_YCO_VMIN");
_parameter_handles.y_coordinated_method = param_find("FW_YCO_METHOD");
_parameter_handles.trim_roll = param_find("TRIM_ROLL");
_parameter_handles.trim_pitch = param_find("TRIM_PITCH");
_parameter_handles.trim_yaw = param_find("TRIM_YAW");
@@ -519,8 +512,6 @@ FixedwingAttitudeControl::parameters_update()
param_get(_parameter_handles.y_i, &(_parameters.y_i));
param_get(_parameter_handles.y_ff, &(_parameters.y_ff));
param_get(_parameter_handles.y_integrator_max, &(_parameters.y_integrator_max));
param_get(_parameter_handles.y_coordinated_min_speed, &(_parameters.y_coordinated_min_speed));
param_get(_parameter_handles.y_coordinated_method, &(_parameters.y_coordinated_method));
param_get(_parameter_handles.y_rmax, &(_parameters.y_rmax));
param_get(_parameter_handles.roll_to_yaw_ff, &(_parameters.roll_to_yaw_ff));
@@ -593,8 +584,6 @@ FixedwingAttitudeControl::parameters_update()
_yaw_ctrl.set_k_i(_parameters.y_i);
_yaw_ctrl.set_k_ff(_parameters.y_ff);
_yaw_ctrl.set_integrator_max(_parameters.y_integrator_max);
_yaw_ctrl.set_coordinated_min_speed(_parameters.y_coordinated_min_speed);
_yaw_ctrl.set_coordinated_method(_parameters.y_coordinated_method);
_yaw_ctrl.set_max_rate(math::radians(_parameters.y_rmax));
/* wheel control parameters */
@@ -1044,8 +1033,6 @@ FixedwingAttitudeControl::task_main()
control_input.groundspeed = groundspeed;
control_input.groundspeed_scaler = groundspeed_scaler;
_yaw_ctrl.set_coordinated_method(_parameters.y_coordinated_method);
/* Run attitude controllers */
if (_vcontrol_mode.flag_control_attitude_enabled) {
if (PX4_ISFINITE(roll_sp) && PX4_ISFINITE(pitch_sp)) {
src/modules/fw_att_control/fw_att_control_params.c
-30
View File
@@ -413,36 +413,6 @@ PARAM_DEFINE_FLOAT(FW_YR_FF, 0.3f);
*/
PARAM_DEFINE_FLOAT(FW_WR_FF, 0.2f);
/**
* Minimal speed for yaw coordination
*
* For airspeeds above this value, the yaw rate is calculated for a coordinated
* turn. Set to a very high value to disable.
*
* @unit m/s
* @min 0.0
* @max 1000.0
* @decimal 1
* @increment 0.5
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_YCO_VMIN, 1000.0f);
/**
* Method used for yaw coordination
*
* The param value sets the method used to calculate the yaw rate
* 0: open-loop zero lateral acceleration based on kinematic constraints
* 1: closed-loop: try to reduce lateral acceleration to 0 by measuring the acceleration
*
* @min 0
* @max 1
* @value 0 open-loop
* @value 1 closed-loop
* @group FW Attitude Control
*/
PARAM_DEFINE_INT32(FW_YCO_METHOD, 0);
/**
* Roll setpoint offset
*