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fw att ctrl: removed unused parameter

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Thomas Gubler
2013-12-29 16:42:39 +01:00
parent 6a9423b428
commit 95bdc1a9bd
5 changed files with 2 additions and 11 deletions
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src/modules/fw_att_control/fw_att_control_main.cpp
-3
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@@ -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));