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TECS: remove height rate complementary filter

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This commit is contained in:
Daniel Agar
2019-11-22 10:24:03 -05:00
parent e9890d01d9
commit 6630087654
4 changed files with 2 additions and 26 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+1 -6
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@@ -104,7 +104,6 @@ FixedwingPositionControl::FixedwingPositionControl(bool vtol) :
_parameter_handles.throttle_damp = param_find("FW_T_THR_DAMP");
_parameter_handles.integrator_gain = param_find("FW_T_INTEG_GAIN");
_parameter_handles.vertical_accel_limit = param_find("FW_T_VERT_ACC");
_parameter_handles.height_comp_filter_omega = param_find("FW_T_HGT_OMEGA");
_parameter_handles.speed_comp_filter_omega = param_find("FW_T_SPD_OMEGA");
_parameter_handles.roll_throttle_compensation = param_find("FW_T_RLL2THR");
_parameter_handles.speed_weight = param_find("FW_T_SPDWEIGHT");
@@ -244,10 +243,6 @@ FixedwingPositionControl::parameters_update()
_tecs.set_vertical_accel_limit(v);
}
if (param_get(_parameter_handles.height_comp_filter_omega, &v) == PX4_OK) {
_tecs.set_height_comp_filter_omega(v);
}
if (param_get(_parameter_handles.speed_comp_filter_omega, &v) == PX4_OK) {
_tecs.set_speed_comp_filter_omega(v);
}
@@ -1889,7 +1884,7 @@ FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float airspee
/* update TECS vehicle state estimates */
_tecs.update_vehicle_state_estimates(_airspeed, _R_nb,
accel_body, (_global_pos.timestamp > 0), in_air_alt_control,
_global_pos.alt, _local_pos.v_z_valid, _local_pos.vz, _local_pos.az);
_global_pos.alt, _local_pos.vz);
/* scale throttle cruise by baro pressure */
if (_parameters.throttle_alt_scale > FLT_EPSILON) {