From 2772ae7e0e38da0b55c5d2c8069a471a72b73c0a Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Mon, 16 Dec 2024 16:17:12 +0100 Subject: [PATCH] RpmControl: maximum rpm outliers are now caught by RpmCapture --- .../control_allocator/ActuatorEffectiveness/RpmControl.hpp | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/src/modules/control_allocator/ActuatorEffectiveness/RpmControl.hpp b/src/modules/control_allocator/ActuatorEffectiveness/RpmControl.hpp index 9af733995d..396183382f 100644 --- a/src/modules/control_allocator/ActuatorEffectiveness/RpmControl.hpp +++ b/src/modules/control_allocator/ActuatorEffectiveness/RpmControl.hpp @@ -85,9 +85,8 @@ public: _timestamp_last_update = now; const bool rpm_measurement_timeout = (now - _timestamp_last_rpm_measurement) < 1_s; - const bool no_excessive_rpm = _rpm_estimate < RPM_MAX_VALUE; - if (rpm_measurement_timeout && no_excessive_rpm) { + if (rpm_measurement_timeout) { const float gain_scale = math::max((_spoolup_progress - .8f) * 5.f, 0.f) * 1e-3f; _pid.setGains(_param_ca_heli_rpm_p.get() * gain_scale, _param_ca_heli_rpm_i.get() * gain_scale, 0.f); @@ -104,7 +103,6 @@ public: } private: - static constexpr float RPM_MAX_VALUE = 1800.f; uORB::Subscription _rpm_sub{ORB_ID(rpm)}; float _rpm_estimate{0.f};