From 40eafd458b3be0084379fd88b4b4635dcd691a04 Mon Sep 17 00:00:00 2001 From: Jaeyoung Lim Date: Sat, 20 Aug 2022 18:04:03 +0200 Subject: [PATCH] Delete unused wheel base parameter --- .../px4fmu_common/init.d-posix/airframes/1060_rover | 1 - .../init.d-posix/airframes/1061_r1_rover | 1 - .../px4fmu_common/init.d-posix/airframes/1062_tf-r1 | 1 - .../px4fmu_common/init.d-posix/airframes/1070_boat | 1 - .../init.d/airframes/50004_nxpcup_car_dfrobot_gpx | 1 - .../rover_pos_control/RoverPositionControl.hpp | 1 - .../rover_pos_control/rover_pos_control_params.c | 13 ------------- 7 files changed, 19 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1060_rover b/ROMFS/px4fmu_common/init.d-posix/airframes/1060_rover index 74ed35e863..c9a8c45564 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1060_rover +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1060_rover @@ -26,7 +26,6 @@ param set-default NAV_LOITER_RAD 2 param set-default CBRK_AIRSPD_CHK 162128 param set-default GND_MAX_ANG 0.6 -param set-default GND_WHEEL_BASE 2.0 param set-default CA_AIRFRAME 5 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1061_r1_rover b/ROMFS/px4fmu_common/init.d-posix/airframes/1061_r1_rover index c48e495d6a..ff97a8c5da 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1061_r1_rover +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1061_r1_rover @@ -26,7 +26,6 @@ param set-default NAV_LOITER_RAD 2 param set-default CBRK_AIRSPD_CHK 162128 param set-default GND_MAX_ANG 0.6 -param set-default GND_WHEEL_BASE 2.0 param set-default CA_AIRFRAME 6 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1062_tf-r1 b/ROMFS/px4fmu_common/init.d-posix/airframes/1062_tf-r1 index 0134210800..8106dc7438 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1062_tf-r1 +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1062_tf-r1 @@ -33,7 +33,6 @@ param set-default NAV_LOITER_RAD 2 param set-default CBRK_AIRSPD_CHK 162128 param set-default GND_MAX_ANG 0.6 -param set-default GND_WHEEL_BASE 3.0 param set-default CA_AIRFRAME 5 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1070_boat b/ROMFS/px4fmu_common/init.d-posix/airframes/1070_boat index 917a14b640..6bfa2ba32b 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1070_boat +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1070_boat @@ -26,7 +26,6 @@ param set-default NAV_LOITER_RAD 2 param set-default CBRK_AIRSPD_CHK 162128 param set-default GND_MAX_ANG 0.6 -param set-default GND_WHEEL_BASE 2.0 param set-default CA_AIRFRAME 9 diff --git a/ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx b/ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx index d06d3487de..ba7e31261a 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx +++ b/ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx @@ -34,7 +34,6 @@ param set-default GND_THR_MAX 0.5 # Differential drive acts like ackermann steering with a maximum turn angle of 60 degrees, or pi/3 radians param set-default GND_MAX_ANG 1.042 -param set-default GND_WHEEL_BASE 0.17 # TODO: Set to -1.0, to allow reversing. This will require many changes in the codebase # to support negative throttle. diff --git a/src/modules/rover_pos_control/RoverPositionControl.hpp b/src/modules/rover_pos_control/RoverPositionControl.hpp index 3ec1cb2eed..aebaf805ae 100644 --- a/src/modules/rover_pos_control/RoverPositionControl.hpp +++ b/src/modules/rover_pos_control/RoverPositionControl.hpp @@ -212,7 +212,6 @@ private: (ParamFloat) _param_throttle_max, (ParamFloat) _param_throttle_cruise, - (ParamFloat) _param_wheel_base, (ParamFloat) _param_max_turn_angle, (ParamFloat) _param_att_p, (ParamFloat) _param_gnd_man_y_max, diff --git a/src/modules/rover_pos_control/rover_pos_control_params.c b/src/modules/rover_pos_control/rover_pos_control_params.c index d3e5f61e2e..a47f2cb641 100644 --- a/src/modules/rover_pos_control/rover_pos_control_params.c +++ b/src/modules/rover_pos_control/rover_pos_control_params.c @@ -48,19 +48,6 @@ * Controller parameters, accessible via MAVLink */ -/** - * Distance from front axle to rear axle - * - * A value of 0.31 is typical for 1/10 RC cars. - * - * @unit m - * @min 0.0 - * @decimal 3 - * @increment 0.01 - * @group Rover Position Control - */ -PARAM_DEFINE_FLOAT(GND_WHEEL_BASE, 0.31f); - /** * L1 distance *