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FlightTasks: remove deprecated AutoLine mission task

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This commit is contained in:
Matthias Grob
2020-01-06 15:39:07 +01:00
committed by Mathieu Bresciani
parent bb410ca0db
commit 1484dfed6a
18 changed files with 96 additions and 856 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+1 -10
View File
@@ -169,7 +169,6 @@ private:
(ParamFloat<px4::params::MPC_XY_CRUISE>) _param_mpc_xy_cruise,
(ParamFloat<px4::params::MPC_LAND_ALT2>) _param_mpc_land_alt2, /**< downwards speed limited below this altitude */
(ParamInt<px4::params::MPC_POS_MODE>) _param_mpc_pos_mode,
(ParamInt<px4::params::MPC_AUTO_MODE>) _param_mpc_auto_mode,
(ParamInt<px4::params::MPC_ALT_MODE>) _param_mpc_alt_mode,
(ParamFloat<px4::params::MPC_TILTMAX_LND>) _param_mpc_tiltmax_lnd, /**< maximum tilt for landing and smooth takeoff */
(ParamFloat<px4::params::MPC_THR_MIN>) _param_mpc_thr_min,
@@ -784,15 +783,7 @@ MulticopterPositionControl::start_flight_task()
should_disable_task = false;
FlightTaskError error = FlightTaskError::NoError;
switch (_param_mpc_auto_mode.get()) {
case 1:
error = _flight_tasks.switchTask(FlightTaskIndex::AutoLineSmoothVel);
break;
default:
error = _flight_tasks.switchTask(FlightTaskIndex::AutoLine);
break;
}
error = _flight_tasks.switchTask(FlightTaskIndex::AutoLineSmoothVel);
if (error != FlightTaskError::NoError) {
if (prev_failure_count == 0) {
src/modules/mc_pos_control/mc_pos_control_params.c
+1 -29
View File
@@ -259,22 +259,6 @@ PARAM_DEFINE_FLOAT(MPC_XY_CRUISE, 5.0f);
*/
PARAM_DEFINE_FLOAT(MPC_XY_TRAJ_P, 0.5f);
/**
* Cruise speed when angle prev-current/current-next setpoint
* is 90 degrees. It should be lower than MPC_XY_CRUISE.
*
* Applies only in AUTO modes (includes
* also RTL / hold / etc.)
*
* @unit m/s
* @min 1.0
* @max 20.0
* @increment 1
* @decimal 2
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_CRUISE_90, 3.0f);
/**
* Maximum horizontal velocity setpoint for manual controlled mode
* If velocity setpoint larger than MPC_XY_VEL_MAX is set, then
@@ -454,8 +438,7 @@ PARAM_DEFINE_FLOAT(MPC_VELD_LP, 5.0f);
/**
* Maximum horizontal acceleration for auto mode and for manual mode
*
* Manual mode: Maximum deceleration for MPC_POS_MODE 1 and 2. Maximum acceleration and deceleration for MPC_POS_MODE 3.
* Auto mode: Used with MPC_AUTO_MODE 0 only. For MPC_AUTO_MODE 1, MPC_ACC_HOR is always used.
* Maximum deceleration for MPC_POS_MODE 1 and 2. Maximum acceleration and deceleration for MPC_POS_MODE 3.
*
* @unit m/s/s
* @min 2.0
@@ -569,8 +552,6 @@ PARAM_DEFINE_FLOAT(MPC_JERK_MIN, 8.0f);
* A lower value leads to smoother vehicle motions, but it also limits its
* agility.
*
* Note: This is only used in jerk-limited trajectory mode (MPC_AUTO_MODE 1)
*
* @unit m/s/s/s
* @min 5.0
* @max 80.0
@@ -733,15 +714,6 @@ PARAM_DEFINE_FLOAT(MPC_TKO_RAMP_T, 3.0f);
*/
PARAM_DEFINE_INT32(MPC_POS_MODE, 3);
/**
* Auto sub-mode
*
* @value 0 Default line tracking
* @value 1 Jerk-limited trajectory
* @group Multicopter Position Control
*/
PARAM_DEFINE_INT32(MPC_AUTO_MODE, 1);
/**
* Enforced delay between arming and takeoff
*