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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_params.c
-90
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@@ -502,96 +502,6 @@ PARAM_DEFINE_FLOAT(MC_RATT_TH, 0.8f);
*/
PARAM_DEFINE_INT32(MC_BAT_SCALE_EN, 0);
/**
* TPA P Breakpoint
*
* Throttle PID Attenuation (TPA)
* Magnitude of throttle setpoint at which to begin attenuating roll/pitch P gain
*
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.1
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_TPA_BREAK_P, 1.0f);
/**
* TPA I Breakpoint
*
* Throttle PID Attenuation (TPA)
* Magnitude of throttle setpoint at which to begin attenuating roll/pitch I gain
*
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.1
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_TPA_BREAK_I, 1.0f);
/**
* TPA D Breakpoint
*
* Throttle PID Attenuation (TPA)
* Magnitude of throttle setpoint at which to begin attenuating roll/pitch D gain
*
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.1
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_TPA_BREAK_D, 1.0f);
/**
* TPA Rate P
*
* Throttle PID Attenuation (TPA)
* Rate at which to attenuate roll/pitch P gain
* Attenuation factor is 1.0 when throttle magnitude is below the setpoint
* Above the setpoint, the attenuation factor is (1 - rate * (throttle - breakpoint) / (1.0 - breakpoint))
*
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.05
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_TPA_RATE_P, 0.0f);
/**
* TPA Rate I
*
* Throttle PID Attenuation (TPA)
* Rate at which to attenuate roll/pitch I gain
* Attenuation factor is 1.0 when throttle magnitude is below the setpoint
* Above the setpoint, the attenuation factor is (1 - rate * (throttle - breakpoint) / (1.0 - breakpoint))
*
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.05
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_TPA_RATE_I, 0.0f);
/**
* TPA Rate D
*
* Throttle PID Attenuation (TPA)
* Rate at which to attenuate roll/pitch D gain
* Attenuation factor is 1.0 when throttle magnitude is below the setpoint
* Above the setpoint, the attenuation factor is (1 - rate * (throttle - breakpoint) / (1.0 - breakpoint))
*
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.05
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_TPA_RATE_D, 0.0f);
/**
* Cutoff frequency for the low pass filter on the D-term in the rate controller
*