fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-06-28 08:40:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

fw att ctrl: removed unused parameter

Browse Source
This commit is contained in:
Thomas Gubler
2013-12-29 16:42:31 +01:00
parent 6a9423b428
commit 95bdc1a9bd
5 changed files with 2 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/fw_att_control/fw_att_control_main.cpp
-3
View File
@@ -326,7 +326,6 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
_parameter_handles.y_p = param_find("FW_YR_P");
_parameter_handles.y_i = param_find("FW_YR_I");
_parameter_handles.y_ff = param_find("FW_YR_FF");
_parameter_handles.y_roll_feedforward = param_find("FW_Y_ROLLFF");
_parameter_handles.y_integrator_max = param_find("FW_YR_IMAX");
_parameter_handles.y_rmax = param_find("FW_Y_RMAX");
@@ -388,7 +387,6 @@ FixedwingAttitudeControl::parameters_update()
param_get(_parameter_handles.y_p, &(_parameters.y_p));
param_get(_parameter_handles.y_i, &(_parameters.y_i));
param_get(_parameter_handles.y_ff, &(_parameters.y_ff));
param_get(_parameter_handles.y_roll_feedforward, &(_parameters.y_roll_feedforward));
param_get(_parameter_handles.y_integrator_max, &(_parameters.y_integrator_max));
param_get(_parameter_handles.y_coordinated_min_speed, &(_parameters.y_coordinated_min_speed));
param_get(_parameter_handles.y_rmax, &(_parameters.y_rmax));
@@ -419,7 +417,6 @@ FixedwingAttitudeControl::parameters_update()
_yaw_ctrl.set_k_p(_parameters.y_p);
_yaw_ctrl.set_k_i(_parameters.y_i);
_yaw_ctrl.set_k_ff(_parameters.y_ff);
_yaw_ctrl.set_k_roll_ff(_parameters.y_roll_feedforward);
_yaw_ctrl.set_integrator_max(_parameters.y_integrator_max);
_yaw_ctrl.set_coordinated_min_speed(_parameters.y_coordinated_min_speed);
_yaw_ctrl.set_max_rate(math::radians(_parameters.y_rmax));
src/modules/fw_att_control/fw_att_control_params.c
+1 -3
View File
@@ -86,7 +86,7 @@ PARAM_DEFINE_FLOAT(FW_PR_IMAX, 0.2f);
// @Range 0.5 2.0
// @Increment 0.05
// @User User
PARAM_DEFINE_FLOAT(FW_P_ROLLFF, 0.0f);
PARAM_DEFINE_FLOAT(FW_P_ROLLFF, 0.0f); //xxx: set to 0 as default, see comment in ECL_PitchController::control_attitude (float turn_offset = ...)
// @DisplayName Roll rate proportional Gain.
// @Description This defines how much the aileron input will be commanded depending on the current body angular rate error.
@@ -130,8 +130,6 @@ PARAM_DEFINE_FLOAT(FW_YR_I, 0.0f);
// @Increment 0.1
PARAM_DEFINE_FLOAT(FW_YR_IMAX, 0.2f);
PARAM_DEFINE_FLOAT(FW_Y_ROLLFF, 0); //xxx: remove
// @DisplayName Maximum Yaw Rate
// @Description This limits the maximum yaw rate the controller will output (in degrees per second). Setting a value of zero disables the limit.
// @Range 0 to 90.0 degrees per seconds