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Fixed-wing: remove roll offset param (FW_RSP_OFF)

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2021-02-11 19:02:29 +01:00 committed by Daniel Agar
parent a70cf950f4
commit 31a6edff07
5 changed files with 1 additions and 24 deletions
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4
src/modules/fw_att_control/FixedwingAttitudeControl.cpp
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@ -157,9 +157,7 @@ FixedwingAttitudeControl::vehicle_manual_poll()
if (_vcontrol_mode.flag_control_attitude_enabled) {
// STABILIZED mode generate the attitude setpoint from manual user inputs
_att_sp.roll_body = _manual_control_setpoint.y * radians(_param_fw_man_r_max.get()) + radians(_param_fw_rsp_off.get());
_att_sp.roll_body = constrain(_att_sp.roll_body,
-radians(_param_fw_man_r_max.get()), radians(_param_fw_man_r_max.get()));
_att_sp.roll_body = _manual_control_setpoint.y * radians(_param_fw_man_r_max.get());
_att_sp.pitch_body = -_manual_control_setpoint.x * radians(_param_fw_man_p_max.get())
+ radians(_param_fw_psp_off.get());

1
src/modules/fw_att_control/FixedwingAttitudeControl.hpp
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@ -193,7 +193,6 @@ private:
(ParamFloat<px4::params::FW_RR_I>) _param_fw_rr_i,
(ParamFloat<px4::params::FW_RR_IMAX>) _param_fw_rr_imax,
(ParamFloat<px4::params::FW_RR_P>) _param_fw_rr_p,
(ParamFloat<px4::params::FW_RSP_OFF>) _param_fw_rsp_off,
(ParamBool<px4::params::FW_W_EN>) _param_fw_w_en,
(ParamFloat<px4::params::FW_W_RMAX>) _param_fw_w_rmax,

16
src/modules/fw_att_control/fw_att_control_params.c
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@ -413,22 +413,6 @@ PARAM_DEFINE_FLOAT(FW_YR_FF, 0.3f);
*/
PARAM_DEFINE_FLOAT(FW_WR_FF, 0.2f);
/**
* Roll setpoint offset
*
* An airframe specific offset of the roll setpoint in degrees, the value is
* added to the roll setpoint and should correspond to the typical cruise speed
* of the airframe.
*
* @unit deg
* @min -90.0
* @max 90.0
* @decimal 1
* @increment 0.5
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_RSP_OFF, 0.0f);
/**
* Pitch setpoint offset (pitch at level flight)
*

3
src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
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@ -1715,9 +1715,6 @@ FixedwingPositionControl::Run()
if (control_position(_local_pos.timestamp, curr_pos, ground_speed, _pos_sp_triplet.previous, _pos_sp_triplet.current,
_pos_sp_triplet.next)) {
// add attitude roll setpoint offset (pitch is handled earlier)
_att_sp.roll_body += radians(_param_fw_rsp_off.get());
if (_control_mode.flag_control_manual_enabled) {
_att_sp.roll_body = constrain(_att_sp.roll_body, -radians(_param_fw_man_r_max.get()),
radians(_param_fw_man_r_max.get()));

1
src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
View File

@ -413,7 +413,6 @@ private:
(ParamInt<px4::params::FW_ARSP_MODE>) _param_fw_arsp_mode,
(ParamFloat<px4::params::FW_PSP_OFF>) _param_fw_psp_off,
(ParamFloat<px4::params::FW_RSP_OFF>) _param_fw_rsp_off,
(ParamFloat<px4::params::FW_MAN_P_MAX>) _param_fw_man_p_max,
(ParamFloat<px4::params::FW_MAN_R_MAX>) _param_fw_man_r_max,