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FW control: Remove unused parameters

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Lorenz Meier
2015-08-19 10:43:35 +02:00
parent bf9bbfa27f
commit 62269004c8
2 changed files with 0 additions and 18 deletions
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src/modules/fw_att_control/fw_att_control_main.cpp
-7
View File
@@ -168,7 +168,6 @@ private:
float p_rmax_pos;
float p_rmax_neg;
float p_integrator_max;
float p_roll_feedforward;
float r_p;
float r_i;
float r_ff;
@@ -178,7 +177,6 @@ private:
float y_i;
float y_d;
float y_ff;
float y_roll_feedforward;
float y_integrator_max;
float y_coordinated_min_speed;
int32_t y_coordinated_method;
@@ -211,7 +209,6 @@ private:
param_t p_rmax_pos;
param_t p_rmax_neg;
param_t p_integrator_max;
param_t p_roll_feedforward;
param_t r_p;
param_t r_i;
param_t r_ff;
@@ -221,7 +218,6 @@ private:
param_t y_i;
param_t y_d;
param_t y_ff;
param_t y_roll_feedforward;
param_t y_integrator_max;
param_t y_coordinated_min_speed;
param_t y_coordinated_method;
@@ -374,7 +370,6 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
_parameter_handles.p_rmax_pos = param_find("FW_P_RMAX_POS");
_parameter_handles.p_rmax_neg = param_find("FW_P_RMAX_NEG");
_parameter_handles.p_integrator_max = param_find("FW_PR_IMAX");
_parameter_handles.p_roll_feedforward = param_find("FW_P_ROLLFF");
_parameter_handles.r_p = param_find("FW_RR_P");
_parameter_handles.r_i = param_find("FW_RR_I");
@@ -450,7 +445,6 @@ FixedwingAttitudeControl::parameters_update()
param_get(_parameter_handles.p_rmax_pos, &(_parameters.p_rmax_pos));
param_get(_parameter_handles.p_rmax_neg, &(_parameters.p_rmax_neg));
param_get(_parameter_handles.p_integrator_max, &(_parameters.p_integrator_max));
param_get(_parameter_handles.p_roll_feedforward, &(_parameters.p_roll_feedforward));
param_get(_parameter_handles.r_p, &(_parameters.r_p));
param_get(_parameter_handles.r_i, &(_parameters.r_i));
@@ -493,7 +487,6 @@ FixedwingAttitudeControl::parameters_update()
_pitch_ctrl.set_integrator_max(_parameters.p_integrator_max);
_pitch_ctrl.set_max_rate_pos(math::radians(_parameters.p_rmax_pos));
_pitch_ctrl.set_max_rate_neg(math::radians(_parameters.p_rmax_neg));
_pitch_ctrl.set_roll_ff(_parameters.p_roll_feedforward);
/* roll control parameters */
_roll_ctrl.set_time_constant(_parameters.tconst);
src/modules/fw_att_control/fw_att_control_params.c
-11
View File
@@ -128,17 +128,6 @@ PARAM_DEFINE_FLOAT(FW_P_RMAX_NEG, 60.0f);
*/
PARAM_DEFINE_FLOAT(FW_PR_IMAX, 0.4f);
/**
* Roll to Pitch feedforward gain.
*
* This compensates during turns and ensures the nose stays level.
*
* @min 0.0
* @max 2.0
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_P_ROLLFF, 0.0f);
/**
* Roll rate proportional Gain
*