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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/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
+1
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@@ -90,6 +90,7 @@ float ECL_PitchController::control_attitude(float pitch_setpoint, float roll, fl
} }
/* calculate the offset in the rate resulting from rolling */ /* calculate the offset in the rate resulting from rolling */
//xxx needs explanation and conversion to body angular rates or should be removed
float turn_offset = fabsf((CONSTANTS_ONE_G / airspeed) * float turn_offset = fabsf((CONSTANTS_ONE_G / airspeed) *
tanf(roll) * sinf(roll)) * _roll_ff; tanf(roll) * sinf(roll)) * _roll_ff;
if (inverted) if (inverted)
src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp
-1
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@@ -53,7 +53,6 @@ ECL_YawController::ECL_YawController() :
_k_ff(0.0f), _k_ff(0.0f),
_integrator_max(0.0f), _integrator_max(0.0f),
_max_rate(0.0f), _max_rate(0.0f),
_roll_ff(0.0f),
_last_output(0.0f), _last_output(0.0f),
_integrator(0.0f), _integrator(0.0f),
_rate_error(0.0f), _rate_error(0.0f),
src/lib/ecl/attitude_fw/ecl_yaw_controller.h
-4
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@@ -87,10 +87,6 @@ public:
_max_rate = max_rate; _max_rate = max_rate;
} }
void set_k_roll_ff(float roll_ff) {
_roll_ff = roll_ff;
}
void set_coordinated_min_speed(float coordinated_min_speed) { void set_coordinated_min_speed(float coordinated_min_speed) {
_coordinated_min_speed = coordinated_min_speed; _coordinated_min_speed = coordinated_min_speed;
} }
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_p = param_find("FW_YR_P");
_parameter_handles.y_i = param_find("FW_YR_I"); _parameter_handles.y_i = param_find("FW_YR_I");
_parameter_handles.y_ff = param_find("FW_YR_FF"); _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_integrator_max = param_find("FW_YR_IMAX");
_parameter_handles.y_rmax = param_find("FW_Y_RMAX"); _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_p, &(_parameters.y_p));
param_get(_parameter_handles.y_i, &(_parameters.y_i)); param_get(_parameter_handles.y_i, &(_parameters.y_i));
param_get(_parameter_handles.y_ff, &(_parameters.y_ff)); 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_integrator_max, &(_parameters.y_integrator_max));
param_get(_parameter_handles.y_coordinated_min_speed, &(_parameters.y_coordinated_min_speed)); param_get(_parameter_handles.y_coordinated_min_speed, &(_parameters.y_coordinated_min_speed));
param_get(_parameter_handles.y_rmax, &(_parameters.y_rmax)); 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_p(_parameters.y_p);
_yaw_ctrl.set_k_i(_parameters.y_i); _yaw_ctrl.set_k_i(_parameters.y_i);
_yaw_ctrl.set_k_ff(_parameters.y_ff); _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_integrator_max(_parameters.y_integrator_max);
_yaw_ctrl.set_coordinated_min_speed(_parameters.y_coordinated_min_speed); _yaw_ctrl.set_coordinated_min_speed(_parameters.y_coordinated_min_speed);
_yaw_ctrl.set_max_rate(math::radians(_parameters.y_rmax)); _yaw_ctrl.set_max_rate(math::radians(_parameters.y_rmax));
src/modules/fw_att_control/fw_att_control_params.c
+1 -3
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@@ -86,7 +86,7 @@ PARAM_DEFINE_FLOAT(FW_PR_IMAX, 0.2f);
// @Range 0.5 2.0 // @Range 0.5 2.0
// @Increment 0.05 // @Increment 0.05
// @User User // @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. // @DisplayName Roll rate proportional Gain.
// @Description This defines how much the aileron input will be commanded depending on the current body angular rate error. // @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 // @Increment 0.1
PARAM_DEFINE_FLOAT(FW_YR_IMAX, 0.2f); PARAM_DEFINE_FLOAT(FW_YR_IMAX, 0.2f);
PARAM_DEFINE_FLOAT(FW_Y_ROLLFF, 0); //xxx: remove
// @DisplayName Maximum Yaw Rate // @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. // @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 // @Range 0 to 90.0 degrees per seconds