From 635f64a2e531080f2a3fa0b60f6775226a1aa35c Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Thu, 20 Jan 2022 10:43:29 +0100 Subject: [PATCH] Commander: remove permanent stabilization option for fixed-wing flight Signed-off-by: Silvan Fuhrer --- ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad | 1 - msg/vehicle_status.msg | 1 - msg/vtol_vehicle_status.msg | 1 - src/modules/commander/Commander.cpp | 7 +------ .../vtol_att_control/vtol_att_control_main.cpp | 2 -- src/modules/vtol_att_control/vtol_att_control_main.h | 3 +-- .../vtol_att_control/vtol_att_control_params.c | 11 ----------- 7 files changed, 2 insertions(+), 24 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad b/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad index 1448257981..394227a33f 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad +++ b/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad @@ -131,7 +131,6 @@ param set-default VT_F_TRANS_DUR 1 param set-default VT_IDLE_PWM_MC 1025 param set-default VT_B_REV_OUT 0.5 param set-default VT_B_TRANS_THR 0.7 -param set-default VT_FW_PERM_STAB 1 param set-default VT_TRANS_TIMEOUT 22 param set-default VT_F_TRANS_RAMP 4 diff --git a/msg/vehicle_status.msg b/msg/vehicle_status.msg index 3a415ea50d..f3f481159e 100644 --- a/msg/vehicle_status.msg +++ b/msg/vehicle_status.msg @@ -75,7 +75,6 @@ uint8 vehicle_type # Type of vehicle (fixed-wing, rotary wing, ground) bool is_vtol # True if the system is VTOL capable bool is_vtol_tailsitter # True if the system performs a 90° pitch down rotation during transition from MC to FW -bool vtol_fw_permanent_stab # True if VTOL should stabilize attitude for fw in manual mode bool in_transition_mode # True if VTOL is doing a transition bool in_transition_to_fw # True if VTOL is doing a transition from MC to FW diff --git a/msg/vtol_vehicle_status.msg b/msg/vtol_vehicle_status.msg index 7bc79768b5..05591fd49b 100644 --- a/msg/vtol_vehicle_status.msg +++ b/msg/vtol_vehicle_status.msg @@ -11,4 +11,3 @@ bool vtol_in_rw_mode # true: vtol vehicle is in rotating wing mode bool vtol_in_trans_mode bool in_transition_to_fw # True if VTOL is doing a transition from MC to FW bool vtol_transition_failsafe # vtol in transition failsafe mode -bool fw_permanent_stab # In fw mode stabilize attitude even if in manual mode diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp index d84e18bef1..d1e1a327b9 100644 --- a/src/modules/commander/Commander.cpp +++ b/src/modules/commander/Commander.cpp @@ -2300,7 +2300,6 @@ Commander::run() if (_vtol_vehicle_status_sub.updated()) { /* vtol status changed */ _vtol_vehicle_status_sub.copy(&_vtol_status); - _status.vtol_fw_permanent_stab = _vtol_status.fw_permanent_stab; /* Make sure that this is only adjusted if vehicle really is of type vtol */ if (is_vtol(_status)) { @@ -3536,11 +3535,7 @@ Commander::update_control_mode() bool Commander::stabilization_required() { - return (_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING || // is a rotary wing, or - _status.vtol_fw_permanent_stab || // is a VTOL in fixed wing mode and stabilisation is on, or - (_vtol_status.vtol_in_trans_mode && // is currently a VTOL transitioning AND - _status.vehicle_type == - vehicle_status_s::VEHICLE_TYPE_FIXED_WING)); // is a fixed wing, ie: transitioning back to rotary wing mode + return _status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING; } void diff --git a/src/modules/vtol_att_control/vtol_att_control_main.cpp b/src/modules/vtol_att_control/vtol_att_control_main.cpp index 5262232385..d3847a2542 100644 --- a/src/modules/vtol_att_control/vtol_att_control_main.cpp +++ b/src/modules/vtol_att_control/vtol_att_control_main.cpp @@ -234,8 +234,6 @@ VtolAttitudeControl::parameters_update() if (_vtol_type != nullptr) { _vtol_type->parameters_update(); } - - _vtol_vehicle_status.fw_permanent_stab = _param_vt_fw_perm_stab.get(); } } diff --git a/src/modules/vtol_att_control/vtol_att_control_main.h b/src/modules/vtol_att_control/vtol_att_control_main.h index 2da2045a04..77a5393c65 100644 --- a/src/modules/vtol_att_control/vtol_att_control_main.h +++ b/src/modules/vtol_att_control/vtol_att_control_main.h @@ -232,7 +232,6 @@ private: void parameters_update(); DEFINE_PARAMETERS( - (ParamInt) _param_vt_type, - (ParamBool) _param_vt_fw_perm_stab + (ParamInt) _param_vt_type ) }; diff --git a/src/modules/vtol_att_control/vtol_att_control_params.c b/src/modules/vtol_att_control/vtol_att_control_params.c index d954f63427..961eaaca91 100644 --- a/src/modules/vtol_att_control/vtol_att_control_params.c +++ b/src/modules/vtol_att_control/vtol_att_control_params.c @@ -51,17 +51,6 @@ */ PARAM_DEFINE_INT32(VT_IDLE_PWM_MC, 900); -/** - * Permanent stabilization in fw mode - * - * If set to one this parameter will cause permanent attitude stabilization in fw mode. - * This parameter has been introduced for pure convenience sake. - * - * @boolean - * @group VTOL Attitude Control - */ -PARAM_DEFINE_INT32(VT_FW_PERM_STAB, 0); - /** * VTOL Type (Tailsitter=0, Tiltrotor=1, Standard=2) *