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fw pos ctrl l1 main: remove unused modes

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Thomas Gubler
2014-06-30 21:16:32 +02:00
parent 02db53cea5
commit 173da25c9a
1 changed files with 0 additions and 83 deletions
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src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
-83
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@@ -1133,89 +1133,6 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
_att_sp.roll_reset_integral = true;
}
} else if (0/* posctrl mode enabled */) {
_was_pos_control_mode = false;
/** POSCTRL FLIGHT **/
if (0/* switched from another mode to posctrl */) {
_altctrl_hold_heading = _att.yaw;
}
if (0/* posctrl on and manual control yaw non-zero */) {
_altctrl_hold_heading = _att.yaw + _manual.r;
}
//XXX not used
/* climb out control */
// bool climb_out = false;
//
// /* user wants to climb out */
// if (_manual.pitch > 0.3f && _manual.throttle > 0.8f) {
// climb_out = true;
// }
/* if in altctrl mode, set airspeed based on manual control */
// XXX check if ground speed undershoot should be applied here
float altctrl_airspeed = _parameters.airspeed_min +
(_parameters.airspeed_max - _parameters.airspeed_min) *
_manual.z;
_l1_control.navigate_heading(_altctrl_hold_heading, _att.yaw, ground_speed_2d);
_att_sp.roll_body = _l1_control.nav_roll();
_att_sp.yaw_body = _l1_control.nav_bearing();
tecs_update_pitch_throttle(_global_pos.alt + _manual.x * 2.0f, altctrl_airspeed, eas2tas,
math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max),
_parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
false, math::radians(_parameters.pitch_limit_min), _global_pos.alt, ground_speed);
} else if (0/* altctrl mode enabled */) {
_was_pos_control_mode = false;
/** ALTCTRL FLIGHT **/
if (0/* switched from another mode to altctrl */) {
_altctrl_hold_heading = _att.yaw;
}
if (0/* altctrl on and manual control yaw non-zero */) {
_altctrl_hold_heading = _att.yaw + _manual.r;
}
/* if in altctrl mode, set airspeed based on manual control */
// XXX check if ground speed undershoot should be applied here
float altctrl_airspeed = _parameters.airspeed_min +
(_parameters.airspeed_max - _parameters.airspeed_min) *
_manual.z;
/* user switched off throttle */
if (_manual.z < 0.1f) {
throttle_max = 0.0f;
}
/* climb out control */
bool climb_out = false;
/* user wants to climb out */
if (_manual.x > 0.3f && _manual.z > 0.8f) {
climb_out = true;
}
_l1_control.navigate_heading(_altctrl_hold_heading, _att.yaw, ground_speed_2d);
_att_sp.roll_body = _manual.y;
_att_sp.yaw_body = _manual.r;
tecs_update_pitch_throttle(_global_pos.alt + _manual.x * 2.0f, altctrl_airspeed, eas2tas,
math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max),
_parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
climb_out, math::radians(_parameters.pitch_limit_min),
_global_pos.alt, ground_speed);
} else {
_was_pos_control_mode = false;