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delete CBRK_RATE_CTRL

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This commit is contained in:
Daniel Agar
2022-07-20 01:14:53 -04:00
parent 67107f4978
commit 8f8615e6c2
4 changed files with 2 additions and 23 deletions
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src/modules/mc_rate_control/MulticopterRateControl.cpp
+1 -3
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@@ -94,8 +94,6 @@ MulticopterRateControl::parameters_updated()
// manual rate control acro mode rate limits
_acro_rate_max = Vector3f(radians(_param_mc_acro_r_max.get()), radians(_param_mc_acro_p_max.get()),
radians(_param_mc_acro_y_max.get()));
_actuators_0_circuit_breaker_enabled = circuit_breaker_enabled_by_val(_param_cbrk_rate_ctrl.get(), CBRK_RATE_CTRL_KEY);
}
void
@@ -207,7 +205,7 @@ MulticopterRateControl::Run()
}
// run the rate controller
if (_vehicle_control_mode.flag_control_rates_enabled && !_actuators_0_circuit_breaker_enabled) {
if (_vehicle_control_mode.flag_control_rates_enabled) {
// reset integral if disarmed
if (!_vehicle_control_mode.flag_armed || _vehicle_status.vehicle_type != vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
src/modules/mc_rate_control/MulticopterRateControl.hpp
+1 -4
View File
@@ -124,7 +124,6 @@ private:
vehicle_control_mode_s _vehicle_control_mode{};
vehicle_status_s _vehicle_status{};
bool _actuators_0_circuit_breaker_enabled{false}; /**< circuit breaker to suppress output */
bool _landed{true};
bool _maybe_landed{true};
@@ -176,8 +175,6 @@ private:
(ParamFloat<px4::params::MC_ACRO_SUPEXPO>) _param_mc_acro_supexpo, /**< superexpo stick curve shape (roll & pitch) */
(ParamFloat<px4::params::MC_ACRO_SUPEXPOY>) _param_mc_acro_supexpoy, /**< superexpo stick curve shape (yaw) */
(ParamBool<px4::params::MC_BAT_SCALE_EN>) _param_mc_bat_scale_en,
(ParamInt<px4::params::CBRK_RATE_CTRL>) _param_cbrk_rate_ctrl
(ParamBool<px4::params::MC_BAT_SCALE_EN>) _param_mc_bat_scale_en
)
};