Merge commit '95bdc1a9bd364ce95abe06b097579cc8a9162e33' into navigator_new_vector

src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp

@@ -52,7 +52,6 @@ ECL_PitchController::ECL_PitchController() :
 	_tc(0.1f),
 	_k_p(0.0f),
 	_k_i(0.0f),
-	_k_d(0.0f),
 	_k_ff(0.0f),
 	_integrator_max(0.0f),
 	_max_rate_pos(0.0f),
@@ -91,6 +90,7 @@ float ECL_PitchController::control_attitude(float pitch_setpoint, float roll, fl
 	}
 
 	/* 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) *
 				tanf(roll) * sinf(roll)) * _roll_ff;
 	if (inverted)

src/lib/ecl/attitude_fw/ecl_pitch_controller.h

@@ -77,9 +77,6 @@ public:
 	void set_k_i(float k_i) {
 		_k_i = k_i;
 	}
-	void set_k_d(float k_d) {
-		_k_d = k_d;
-	}
 
 	void set_k_ff(float k_ff) {
 		_k_ff = k_ff;
@@ -119,7 +116,6 @@ private:
 	float _tc;
 	float _k_p;
 	float _k_i;
-	float _k_d;
 	float _k_ff;
 	float _integrator_max;
 	float _max_rate_pos;

src/lib/ecl/attitude_fw/ecl_roll_controller.cpp

@@ -52,7 +52,6 @@ ECL_RollController::ECL_RollController() :
 	_tc(0.1f),
 	_k_p(0.0f),
 	_k_i(0.0f),
-	_k_d(0.0f),
 	_k_ff(0.0f),
 	_integrator_max(0.0f),
 	_max_rate(0.0f),

src/lib/ecl/attitude_fw/ecl_roll_controller.h

@@ -80,10 +80,6 @@ public:
 		_k_i = k_i;
 	}
 
-	void set_k_d(float k_d) {
-		_k_d = k_d;
-	}
-
 	void set_k_ff(float k_ff) {
 		_k_ff = k_ff;
 	}
@@ -113,7 +109,6 @@ private:
 	float _tc;
 	float _k_p;
 	float _k_i;
-	float _k_d;
 	float _k_ff;
 	float _integrator_max;
 	float _max_rate;

src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp

@@ -50,11 +50,9 @@ ECL_YawController::ECL_YawController() :
 	_last_run(0),
 	_k_p(0.0f),
 	_k_i(0.0f),
-	_k_d(0.0f),
 	_k_ff(0.0f),
 	_integrator_max(0.0f),
 	_max_rate(0.0f),
-	_roll_ff(0.0f),
 	_last_output(0.0f),
 	_integrator(0.0f),
 	_rate_error(0.0f),

src/lib/ecl/attitude_fw/ecl_yaw_controller.h

@@ -75,10 +75,6 @@ public:
 		_k_i = k_i;
 	}
 
-	void set_k_d(float k_d) {
-		_k_d = k_d;
-	}
-
 	void set_k_ff(float k_ff) {
 		_k_ff = k_ff;
 	}
@@ -91,10 +87,6 @@ public:
 		_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) {
 		_coordinated_min_speed = coordinated_min_speed;
 	}
@@ -116,7 +108,6 @@ private:
 	uint64_t _last_run;
 	float _k_p;
 	float _k_i;
-	float _k_d;
 	float _k_ff;
 	float _integrator_max;
 	float _max_rate;