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VTOL: remove some pwm hackery leftovers from legacy mixing systems

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-09-21 14:18:43 -04:00
committed by Daniel Agar
parent d948fcd72b
commit 828f629413
6 changed files with 0 additions and 47 deletions
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src/modules/vtol_att_control/tiltrotor.cpp
-19
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@@ -363,11 +363,6 @@ void Tiltrotor::update_transition_state()
} else if (_vtol_schedule.flight_mode == vtol_mode::TRANSITION_BACK) {
// set idle speed for rotary wing mode
if (!_flag_idle_mc) {
_flag_idle_mc = true;
}
// tilt rotors back once motors are idle
if (time_since_trans_start > BACKTRANS_THROTTLE_DOWNRAMP_DUR_S) {
@@ -528,19 +523,6 @@ void Tiltrotor::fill_actuator_outputs()
_actuators_out_0->timestamp = _actuators_out_1->timestamp = hrt_absolute_time();
}
/*
* Increase combined thrust of MC propellers if motors are tilted. Assumes that all MC motors are tilted equally.
*/
float Tiltrotor::thrust_compensation_for_tilt()
{
// only compensate for tilt angle up to 0.5 * max tilt
float compensated_tilt = math::constrain(_tilt_control, 0.0f, 0.5f);
// increase vertical thrust by 1/cos(tilt), limit to [-1,0]
return math::constrain(_v_att_sp->thrust_body[2] / cosf(compensated_tilt * M_PI_2_F), -1.0f, 0.0f);
}
void Tiltrotor::blendThrottleAfterFrontTransition(float scale)
{
const float tecs_throttle = _v_att_sp->thrust_body[0];
@@ -553,7 +535,6 @@ void Tiltrotor::blendThrottleDuringBacktransition(float scale, float target_thro
_thrust_transition = scale * target_throttle + (1.0f - scale) * _last_thr_in_fw_mode;
}
float Tiltrotor::timeUntilMotorsAreUp()
{
return BACKTRANS_THROTTLE_DOWNRAMP_DUR_S + BACKTRANS_MOTORS_UPTILT_DUR_S;