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FlightTaskManualStabilized: remove double limit of yawspeed

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The same paramater was used twice, once for scaling the yaw stick
and once for limitng just after. This was useless.
This commit is contained in:
Matthias Grob
2018-04-05 07:30:12 +02:00
committed by Beat Küng
parent eaf4f99e38
commit 4bf33339dc
2 changed files with 1 additions and 5 deletions
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src/lib/FlightTasks/tasks/FlightTaskManualStabilized.cpp
+1 -4
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@@ -46,8 +46,7 @@ FlightTaskManualStabilized::FlightTaskManualStabilized(control::SuperBlock *pare
_tilt_max_man(parent, "MPC_MAN_TILT_MAX", false),
_throttle_min(parent, "MPC_THR_MIN", false),
_throttle_max(parent, "MPC_THR_MAX", false),
_throttle_hover(parent, "MPC_THR_HOVER", false),
_yaw_rate_max(parent, "MPC_MAN_Y_MAX", false)
_throttle_hover(parent, "MPC_THR_HOVER", false)
{}
bool FlightTaskManualStabilized::activate()
@@ -61,8 +60,6 @@ void FlightTaskManualStabilized::_scaleSticks()
/* Scale sticks to yaw and thrust using
* linear scale for yaw and piecewise linear map for thrust. */
_yawspeed_setpoint = _sticks(3) * math::radians(_yaw_rate_scaling.get());
_yawspeed_setpoint = math::sign(_yawspeed_setpoint) * math::min(fabsf(_yawspeed_setpoint),
math::radians(_yaw_rate_max.get()));
_throttle = _throttleCurve();
}
src/lib/FlightTasks/tasks/FlightTaskManualStabilized.hpp
-1
View File
@@ -71,5 +71,4 @@ private:
control::BlockParamFloat _throttle_min; /**< minimum throttle that always has to be satisfied in flight*/
control::BlockParamFloat _throttle_max; /**< maximum throttle that always has to be satisfied in flight*/
control::BlockParamFloat _throttle_hover; /**< throttle value at which vehicle is at hover equilibrium */
control::BlockParamFloat _yaw_rate_max; /** manual maximum yawspeed */
};