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Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst
2021-11-05 18:04:33 +01:00
committed by Silvan Fuhrer
parent 0ac3077bdc
commit 924298e9c3
4 changed files with 14 additions and 26 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
-10
View File
@@ -629,16 +629,6 @@ FixedwingPositionControl::in_takeoff_situation()
&& (_current_altitude <= _takeoff_ground_alt + _param_fw_clmbout_diff.get());
}
void
FixedwingPositionControl::do_takeoff_help(float *hold_altitude, float *pitch_limit_min)
{
/* demand "climbout_diff" m above ground if user switched into this mode during takeoff */
if (in_takeoff_situation()) {
*hold_altitude = _takeoff_ground_alt + _param_fw_clmbout_diff.get();
*pitch_limit_min = radians(10.0f);
}
}
void
FixedwingPositionControl::set_control_mode_current(const hrt_abstime &now, bool pos_sp_curr_valid)
{
src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
-8
View File
@@ -112,7 +112,6 @@ static constexpr hrt_abstime T_ALT_TIMEOUT = 1_s; // time after which we abort l
static constexpr float THROTTLE_THRESH =
0.05f; ///< max throttle from user which will not lead to motors spinning up in altitude controlled modes
static constexpr float ALTHOLD_EPV_RESET_THRESH = 5.0f;
class FixedwingPositionControl final : public ModuleBase<FixedwingPositionControl>, public ModuleParams,
public px4::WorkItem
@@ -312,13 +311,6 @@ private:
*/
bool in_takeoff_situation();
/**
* Do takeoff help when in altitude controlled modes
* @param hold_altitude altitude setpoint for controller
* @param pitch_limit_min minimum pitch allowed
*/
void do_takeoff_help(float *hold_altitude, float *pitch_limit_min);
/**
* Update desired altitude base on user pitch stick input
*