fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-03 17:58:52 +08:00
Code Issues Packages Projects Releases Wiki Activity

PositionControl: remove unused parameters

Browse Source
This commit is contained in:
Dennis Mannhart
2018-04-05 07:30:12 +02:00
committed by Beat Küng
parent 67900512ab
commit 03b3026e18
2 changed files with 1 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mc_pos_control/PositionControl.cpp
+1 -9
View File
@@ -68,8 +68,6 @@ PositionControl::PositionControl()
_ThrHover_h = param_find("MPC_THR_HOVER");
_ThrMax_h = param_find("MPC_THR_MAX");
_ThrMin_h = param_find("MPC_THR_MIN");
_YawRateMax_h = param_find("MPC_MAN_Y_MAX");
_Pyaw_h = param_find("MC_YAW_P");
/* Set parameter the very first time. */
_setParams();
@@ -163,10 +161,7 @@ void PositionControl::_interfaceMapping()
}
}
if (PX4_ISFINITE(_yawspeed_sp) && fabsf(_yawspeed_sp) > 0.0f) {
_yawspeed_sp = math::sign(_yawspeed_sp) * math::min(fabsf(_yawspeed_sp), math::radians(_YawRateMax));
} else {
if (!PX4_ISFINITE(_yawspeed_sp)) {
_yawspeed_sp = 0.0f;
}
@@ -306,7 +301,4 @@ void PositionControl::_setParams()
param_get(_ThrHover_h, &_ThrHover);
param_get(_ThrMax_h, &_ThrLimit[0]);
param_get(_ThrMin_h, &_ThrLimit[1]);
param_get(_YawRateMax_h, &_YawRateMax);
param_get(_Pyaw_h, &_Pyaw);
}
src/modules/mc_pos_control/PositionControl.hpp
-2
View File
@@ -121,8 +121,6 @@ private:
float _VelMaxZ[2]; //index 0: index up; 1: down
float _ThrHover{0.5f};
float _ThrLimit[2]; //index 0: max, index 1: min
float _Pyaw{};
float _YawRateMax{};
bool _skipController{false};
/* Helper methods */