From e8649c8bf63ae30e21098b49f522e2eac381a60a Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Tue, 25 Mar 2025 16:30:15 +0900 Subject: [PATCH] AC_PID: remove calls to SlewCalculator2D --- libraries/AC_PID/AC_PID_2D.cpp | 4 ---- libraries/AC_PID/AC_PID_2D.h | 6 ------ 2 files changed, 10 deletions(-) diff --git a/libraries/AC_PID/AC_PID_2D.cpp b/libraries/AC_PID/AC_PID_2D.cpp index a79c20678f5..e6c87e18142 100644 --- a/libraries/AC_PID/AC_PID_2D.cpp +++ b/libraries/AC_PID/AC_PID_2D.cpp @@ -96,10 +96,6 @@ Vector2f AC_PID_2D::update_all(const Vector2f &target, const Vector2f &measureme // update I term update_i(dt, limit); - - // calculate slew limit - _slew_calc.update(Vector2f{_pid_info_x.P + _pid_info_x.D, _pid_info_y.P + _pid_info_y.D}, dt); - _pid_info_x.slew_rate = _pid_info_y.slew_rate = _slew_calc.get_slew_rate(); _pid_info_x.target = _target.x; _pid_info_x.actual = measurement.x; diff --git a/libraries/AC_PID/AC_PID_2D.h b/libraries/AC_PID/AC_PID_2D.h index 129c07f2e93..bd1fa98579f 100644 --- a/libraries/AC_PID/AC_PID_2D.h +++ b/libraries/AC_PID/AC_PID_2D.h @@ -8,7 +8,6 @@ #include #include #include -#include /// @class AC_PID_2D /// @brief Copter PID control class @@ -73,9 +72,6 @@ public: void set_integrator(const Vector3f& i) { set_integrator(Vector2f{i.x, i.y}); } void set_integrator(const Vector2f& i); - // return current slew rate of slew limiter. Will return 0 if SMAX is zero - float get_slew_rate(void) const { return _slew_calc.get_slew_rate(); } - const AP_PIDInfo& get_pid_info_x(void) const { return _pid_info_x; } const AP_PIDInfo& get_pid_info_y(void) const { return _pid_info_y; } @@ -103,8 +99,6 @@ protected: AP_PIDInfo _pid_info_x; AP_PIDInfo _pid_info_y; - SlewCalculator2D _slew_calc; // 2D slew rate calculator - private: const float default_kp; const float default_ki;