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fw_pos_control_l1 remove unused ground_speed arg

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This commit is contained in:
Daniel Agar
2017-02-07 01:56:54 -05:00
committed by Lorenz Meier
parent af7b2cd22f
commit 0b0c552dee
1 changed files with 4 additions and 14 deletions
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src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+4 -14
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@@ -489,7 +489,6 @@ private:
float throttle_min, float throttle_max, float throttle_cruise,
bool climbout_mode, float climbout_pitch_min_rad,
float altitude,
const math::Vector<3> &ground_speed,
unsigned mode = tecs_status_s::TECS_MODE_NORMAL);
};
@@ -1276,7 +1275,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
tecs_update_pitch_throttle(pos_sp_triplet.current.alt, calculate_target_airspeed(mission_airspeed), eas2tas,
radians(_parameters.pitch_limit_min), radians(_parameters.pitch_limit_max),
_parameters.throttle_min, _parameters.throttle_max, mission_throttle,
false, radians(_parameters.pitch_limit_min), _global_pos.alt, ground_speed);
false, radians(_parameters.pitch_limit_min), _global_pos.alt);
} else if (pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_LOITER) {
@@ -1314,8 +1313,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
_parameters.throttle_cruise,
false,
radians(_parameters.pitch_limit_min),
_global_pos.alt,
ground_speed);
_global_pos.alt);
} else if (pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_LAND) {
@@ -1501,7 +1499,6 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
false,
_land_motor_lim ? radians(_parameters.land_flare_pitch_min_deg) : radians(_parameters.pitch_limit_min),
_global_pos.alt,
ground_speed,
_land_motor_lim ? tecs_status_s::TECS_MODE_LAND_THROTTLELIM : tecs_status_s::TECS_MODE_LAND);
if (!_land_noreturn_vertical) {
@@ -1557,8 +1554,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
_parameters.throttle_cruise,
false,
radians(_parameters.pitch_limit_min),
_global_pos.alt,
ground_speed);
_global_pos.alt);
}
} else if (pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF) {
@@ -1606,7 +1602,6 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
_runway_takeoff.climbout(),
radians(_runway_takeoff.getMinPitch(pos_sp_triplet.current.pitch_min, 10.0f, _parameters.pitch_limit_min)),
_global_pos.alt,
ground_speed,
tecs_status_s::TECS_MODE_TAKEOFF);
// assign values
@@ -1676,7 +1671,6 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
true,
max(radians(pos_sp_triplet.current.pitch_min), radians(10.0f)),
_global_pos.alt,
ground_speed,
tecs_status_s::TECS_MODE_TAKEOFF);
/* limit roll motion to ensure enough lift */
@@ -1693,8 +1687,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
_parameters.throttle_cruise,
false,
radians(_parameters.pitch_limit_min),
_global_pos.alt,
ground_speed);
_global_pos.alt);
}
} else {
@@ -1781,7 +1774,6 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
climbout_requested,
((climbout_requested) ? radians(10.0f) : pitch_limit_min),
_global_pos.alt,
ground_speed,
tecs_status_s::TECS_MODE_NORMAL);
/* heading control */
@@ -1894,7 +1886,6 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
climbout_requested,
((climbout_requested) ? radians(10.0f) : pitch_limit_min),
_global_pos.alt,
ground_speed,
tecs_status_s::TECS_MODE_NORMAL);
_att_sp.roll_body = _manual.y * _parameters.man_roll_max_rad;
@@ -2243,7 +2234,6 @@ void FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float v_
float throttle_min, float throttle_max, float throttle_cruise,
bool climbout_mode, float climbout_pitch_min_rad,
float altitude,
const math::Vector<3> &ground_speed,
unsigned mode)
{
float dt = 0.01f; // prevent division with 0