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VTOL: remove pusher reverse feature

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-03-06 14:00:02 +01:00
parent c09bf66639
commit 4be74befd2
7 changed files with 2 additions and 55 deletions
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src/modules/navigator/mission_block.cpp
+1 -2
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@@ -348,10 +348,9 @@ MissionBlock::is_mission_item_reached_or_completed()
_navigator->get_local_position()->vy * _navigator->get_local_position()->vy);
const float back_trans_dec = _navigator->get_vtol_back_trans_deceleration();
const float reverse_delay = _navigator->get_vtol_reverse_delay();
if (back_trans_dec > FLT_EPSILON && velocity > FLT_EPSILON) {
acceptance_radius = ((velocity / back_trans_dec / 2) * velocity) + reverse_delay * velocity;
acceptance_radius = (velocity / back_trans_dec / 2) * velocity;
}
src/modules/navigator/navigator.h
-3
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@@ -314,7 +314,6 @@ public:
float get_lndmc_alt_max() const { return _param_lndmc_alt_max.get(); }
float get_vtol_back_trans_deceleration() const { return _param_back_trans_dec_mss; }
float get_vtol_reverse_delay() const { return _param_reverse_delay; }
bool force_vtol();
@@ -401,12 +400,10 @@ private:
NavigatorMode *_navigation_mode_array[NAVIGATOR_MODE_ARRAY_SIZE] {}; /**< array of navigation modes */
param_t _handle_back_trans_dec_mss{PARAM_INVALID};
param_t _handle_reverse_delay{PARAM_INVALID};
param_t _handle_mpc_jerk_auto{PARAM_INVALID};
param_t _handle_mpc_acc_hor{PARAM_INVALID};
float _param_back_trans_dec_mss{0.f};
float _param_reverse_delay{0.f};
float _param_mpc_jerk_auto{4.f}; /**< initialized with the default jerk auto value to prevent division by 0 if the parameter is accidentally set to 0 */
float _param_mpc_acc_hor{3.f}; /**< initialized with the default horizontal acc value to prevent division by 0 if the parameter is accidentally set to 0 */
src/modules/navigator/navigator_main.cpp
-5
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@@ -96,7 +96,6 @@ Navigator::Navigator() :
}
_handle_back_trans_dec_mss = param_find("VT_B_DEC_MSS");
_handle_reverse_delay = param_find("VT_B_REV_DEL");
_handle_mpc_jerk_auto = param_find("MPC_JERK_AUTO");
_handle_mpc_acc_hor = param_find("MPC_ACC_HOR");
@@ -127,10 +126,6 @@ void Navigator::params_update()
param_get(_handle_back_trans_dec_mss, &_param_back_trans_dec_mss);
}
if (_handle_reverse_delay != PARAM_INVALID) {
param_get(_handle_reverse_delay, &_param_reverse_delay);
}
if (_handle_mpc_jerk_auto != PARAM_INVALID) {
param_get(_handle_mpc_jerk_auto, &_param_mpc_jerk_auto);
}