From 31a6edff078aa4c4e954bf19b151d3990f20eda0 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Thu, 11 Feb 2021 19:02:29 +0100 Subject: [PATCH] Fixed-wing: remove roll offset param (FW_RSP_OFF) Signed-off-by: Silvan Fuhrer --- .../fw_att_control/FixedwingAttitudeControl.cpp | 4 +--- .../fw_att_control/FixedwingAttitudeControl.hpp | 1 - .../fw_att_control/fw_att_control_params.c | 16 ---------------- .../FixedwingPositionControl.cpp | 3 --- .../FixedwingPositionControl.hpp | 1 - 5 files changed, 1 insertion(+), 24 deletions(-) diff --git a/src/modules/fw_att_control/FixedwingAttitudeControl.cpp b/src/modules/fw_att_control/FixedwingAttitudeControl.cpp index dac00f755f..ce72df0583 100644 --- a/src/modules/fw_att_control/FixedwingAttitudeControl.cpp +++ b/src/modules/fw_att_control/FixedwingAttitudeControl.cpp @@ -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()); diff --git a/src/modules/fw_att_control/FixedwingAttitudeControl.hpp b/src/modules/fw_att_control/FixedwingAttitudeControl.hpp index 3a22a0bc58..35b9341a07 100644 --- a/src/modules/fw_att_control/FixedwingAttitudeControl.hpp +++ b/src/modules/fw_att_control/FixedwingAttitudeControl.hpp @@ -193,7 +193,6 @@ private: (ParamFloat) _param_fw_rr_i, (ParamFloat) _param_fw_rr_imax, (ParamFloat) _param_fw_rr_p, - (ParamFloat) _param_fw_rsp_off, (ParamBool) _param_fw_w_en, (ParamFloat) _param_fw_w_rmax, diff --git a/src/modules/fw_att_control/fw_att_control_params.c b/src/modules/fw_att_control/fw_att_control_params.c index e2be303861..927a7e9c03 100644 --- a/src/modules/fw_att_control/fw_att_control_params.c +++ b/src/modules/fw_att_control/fw_att_control_params.c @@ -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) * diff --git a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp index dc0557acc3..6a78a4cc65 100644 --- a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp +++ b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp @@ -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())); diff --git a/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp b/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp index ade6314bf6..1c17fe1c3c 100644 --- a/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp +++ b/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp @@ -413,7 +413,6 @@ private: (ParamInt) _param_fw_arsp_mode, (ParamFloat) _param_fw_psp_off, - (ParamFloat) _param_fw_rsp_off, (ParamFloat) _param_fw_man_p_max, (ParamFloat) _param_fw_man_r_max,