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mc_att_control: remove TPA

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because it's mostly unused and we have thrust curve correction
see parameter THR_MDL_FAC
This commit is contained in:
Matthias Grob
2019-10-18 15:54:09 -04:00
committed by Daniel Agar
parent f9ddbd7e2a
commit 08ec6a28f0
6 changed files with 9 additions and 155 deletions
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src/modules/mc_att_control/mc_att_control_main.cpp
+1 -1
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@@ -377,7 +377,7 @@ MulticopterAttitudeControl::control_attitude_rates(float dt, const Vector3f &rat
const bool landed = _vehicle_land_detected.maybe_landed || _vehicle_land_detected.landed;
_rate_control.setSaturationStatus(_saturation_status);
_att_control = _rate_control.update(rates, _rates_sp, dt, landed, _thrust_sp);
_att_control = _rate_control.update(rates, _rates_sp, dt, landed);
}
void