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weathervane: get rid of passive strategy

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Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman
2018-09-19 08:27:07 +02:00
committed by Lorenz Meier
parent 0e835cb498
commit 96f3feb088
9 changed files with 1 additions and 95 deletions
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src/modules/vtol_att_control/vtol_att_control_main.cpp
-15
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@@ -87,11 +87,6 @@ VtolAttitudeControl::VtolAttitudeControl()
_params_handles.mpc_xy_cruise = param_find("MPC_XY_CRUISE");
_params_handles.fw_motors_off = param_find("VT_FW_MOT_OFFID");
_params_handles.wv_takeoff = param_find("VT_WV_TKO_EN");
_params_handles.wv_land = param_find("VT_WV_LND_EN");
_params_handles.wv_loiter = param_find("VT_WV_LTR_EN");
/* fetch initial parameter values */
parameters_update();
@@ -479,16 +474,6 @@ VtolAttitudeControl::parameters_update()
_params.front_trans_time_min = math::min(_params.front_trans_time_openloop * 0.9f,
_params.front_trans_time_min);
/* weathervane */
param_get(_params_handles.wv_takeoff, &l);
_params.wv_takeoff = (l == 1);
param_get(_params_handles.wv_loiter, &l);
_params.wv_loiter = (l == 1);
param_get(_params_handles.wv_land, &l);
_params.wv_land = (l == 1);
param_get(_params_handles.front_trans_duration, &_params.front_trans_duration);
param_get(_params_handles.back_trans_duration, &_params.back_trans_duration);