diff --git a/src/lib/flight_tasks/CMakeLists.txt b/src/lib/flight_tasks/CMakeLists.txt index a97cf3edb4..28f4a4f7a8 100644 --- a/src/lib/flight_tasks/CMakeLists.txt +++ b/src/lib/flight_tasks/CMakeLists.txt @@ -57,7 +57,6 @@ list(APPEND flight_tasks_all ManualPosition ManualPositionSmooth ManualPositionSmoothVel - Sport AutoLineSmoothVel AutoFollowMe Offboard diff --git a/src/lib/flight_tasks/tasks/Sport/CMakeLists.txt b/src/lib/flight_tasks/tasks/Sport/CMakeLists.txt deleted file mode 100644 index 4a1482b9fd..0000000000 --- a/src/lib/flight_tasks/tasks/Sport/CMakeLists.txt +++ /dev/null @@ -1,43 +0,0 @@ -############################################################################ -# -# Copyright (c) 2018 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ - -# create header only library -add_library(FlightTaskSport INTERFACE) - -# include header directory -target_include_directories(FlightTaskSport -INTERFACE - ${CMAKE_CURRENT_SOURCE_DIR} -) - -target_link_libraries(FlightTaskSport INTERFACE FlightTaskManual) diff --git a/src/lib/flight_tasks/tasks/Sport/FlightTaskSport.hpp b/src/lib/flight_tasks/tasks/Sport/FlightTaskSport.hpp deleted file mode 100644 index b5eff3b1a9..0000000000 --- a/src/lib/flight_tasks/tasks/Sport/FlightTaskSport.hpp +++ /dev/null @@ -1,64 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2017 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file FlightTaskSport.hpp - * - * Manual controlled position with maximum speed and no smoothing. - */ - -#pragma once - -#include "FlightTaskManualPosition.hpp" -#include "mathlib/mathlib.h" -#include - -using namespace matrix; - -class FlightTaskSport : public FlightTaskManualPosition -{ -public: - FlightTaskSport() = default; - - virtual ~FlightTaskSport() = default; - - bool activate(vehicle_local_position_setpoint_s last_setpoint) override - { - bool ret = FlightTaskManualPosition::activate(last_setpoint); - - // default constraints already are the maximum allowed limits - _setDefaultConstraints(); - - return ret; - } -}; diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index a654b81a41..d32e72e9f5 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -42,6 +42,7 @@ #include #include #include +#include #include #include #include @@ -74,6 +75,7 @@ #include using namespace time_literals; +using namespace matrix; /** * Multicopter position control app start / stop handling function @@ -849,10 +851,6 @@ MulticopterPositionControl::start_flight_task() error = _flight_tasks.switchTask(FlightTaskIndex::ManualPositionSmooth); break; - case 2: - error = _flight_tasks.switchTask(FlightTaskIndex::Sport); - break; - case 3: error = _flight_tasks.switchTask(FlightTaskIndex::ManualPositionSmoothVel); break; diff --git a/src/modules/mc_pos_control/mc_pos_control_params.c b/src/modules/mc_pos_control/mc_pos_control_params.c index 517b8085eb..cc604710aa 100644 --- a/src/modules/mc_pos_control/mc_pos_control_params.c +++ b/src/modules/mc_pos_control/mc_pos_control_params.c @@ -449,7 +449,7 @@ PARAM_DEFINE_FLOAT(MPC_VELD_LP, 5.0f); /** * Maximum horizontal acceleration for auto mode and for manual mode * - * Maximum deceleration for MPC_POS_MODE 1 and 2. Maximum acceleration and deceleration for MPC_POS_MODE 3. + * Maximum deceleration for MPC_POS_MODE 1. Maximum acceleration and deceleration for MPC_POS_MODE 3. * * @unit m/s/s * @min 2.0 @@ -719,7 +719,6 @@ PARAM_DEFINE_FLOAT(MPC_TKO_RAMP_T, 3.0f); * * @value 0 Default position control * @value 1 Smooth position control - * @value 2 Sport position control * @value 3 Smooth position control (Velocity) * @group Multicopter Position Control */