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APM_Control: remove convert_pid()

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AP_RollController::convert_pid() and AP_PitchController::convert_pid()
converted the old RLL2SRV_/PTCH2SRV_ gains into the AC_PID form.  Added
Apr-2021 and described in the code as "a temporary conversion function
during development"; present in the 4.3.0 release, so anybody running
4.3.0 or later has already had it applied.
This commit is contained in:
Peter Barker
2026-09-01 20:49:36 +10:00
committed by Peter Barker
parent d2af33604b
commit da9ecf550a
4 changed files with 0 additions and 65 deletions
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libraries/APM_Control/AP_PitchController.cpp
-32
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@@ -303,35 +303,3 @@ float AP_PitchController::run_axis_rate_control(float desired_rate_degs, float s
return run_rate_control(desired_rate_degs, scaler, disable_integrator, ground_mode);
}
/*
convert from old to new PIDs
this is a temporary conversion function during development
*/
// PARAMETER_CONVERSION - Added: Apr-2021 for ArduPilot-4.1
void AP_PitchController::convert_pid()
{
AP_Float &ff = rate_pid.ff();
if (ff.configured()) {
return;
}
float old_ff=0, old_p=1.0, old_i=0.3, old_d=0.08;
int16_t old_imax = 3000;
bool have_old = AP_Param::get_param_by_index(this, 1, AP_PARAM_FLOAT, &old_p);
have_old |= AP_Param::get_param_by_index(this, 3, AP_PARAM_FLOAT, &old_i);
have_old |= AP_Param::get_param_by_index(this, 2, AP_PARAM_FLOAT, &old_d);
have_old |= AP_Param::get_param_by_index(this, 8, AP_PARAM_FLOAT, &old_ff);
have_old |= AP_Param::get_param_by_index(this, 7, AP_PARAM_FLOAT, &old_imax);
if (!have_old) {
// none of the old gains were set
return;
}
const float kp_ff = MAX((old_p - old_i * gains.tau) * gains.tau - old_d, 0);
rate_pid.ff().set_and_save(old_ff + kp_ff);
rate_pid.kI().set_and_save_ifchanged(old_i * gains.tau);
rate_pid.kP().set_and_save_ifchanged(old_d);
rate_pid.kD().set_and_save_ifchanged(0);
rate_pid.kIMAX().set_and_save_ifchanged(old_imax/4500.0);
}
libraries/APM_Control/AP_PitchController.h
-1
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@@ -12,7 +12,6 @@ public:
static const struct AP_Param::GroupInfo var_info[];
void convert_pid();
private:
AP_Float _roll_ff;
libraries/APM_Control/AP_RollController.cpp
-31
View File
@@ -245,34 +245,3 @@ float AP_RollController::run_axis_rate_control(float desired_rate_degs, float sc
return run_rate_control(desired_rate_degs, scaler, disable_integrator, ground_mode);
}
/*
convert from old to new PIDs
this is a temporary conversion function during development
*/
// PARAMETER_CONVERSION - Added: Apr-2021 for ArduPilot-4.1
void AP_RollController::convert_pid()
{
AP_Float &ff = rate_pid.ff();
if (ff.configured()) {
return;
}
float old_ff=0, old_p=1.0, old_i=0.3, old_d=0.08;
int16_t old_imax=3000;
bool have_old = AP_Param::get_param_by_index(this, 1, AP_PARAM_FLOAT, &old_p);
have_old |= AP_Param::get_param_by_index(this, 3, AP_PARAM_FLOAT, &old_i);
have_old |= AP_Param::get_param_by_index(this, 2, AP_PARAM_FLOAT, &old_d);
have_old |= AP_Param::get_param_by_index(this, 6, AP_PARAM_FLOAT, &old_ff);
have_old |= AP_Param::get_param_by_index(this, 5, AP_PARAM_INT16, &old_imax);
if (!have_old) {
// none of the old gains were set
return;
}
const float kp_ff = MAX((old_p - old_i * gains.tau) * gains.tau - old_d, 0);
rate_pid.ff().set_and_save(old_ff + kp_ff);
rate_pid.kI().set_and_save_ifchanged(old_i * gains.tau);
rate_pid.kP().set_and_save_ifchanged(old_d);
rate_pid.kD().set_and_save_ifchanged(0);
rate_pid.kIMAX().set_and_save_ifchanged(old_imax/4500.0);
}
libraries/APM_Control/AP_RollController.h
-1
View File
@@ -12,7 +12,6 @@ public:
static const struct AP_Param::GroupInfo var_info[];
void convert_pid();
/*
set the in_recovery flag, which is used during a VTOL upset recovery