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fw_pos_control_l1 don't store TECS and L1 parameters

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This commit is contained in:
Daniel Agar
2018-04-12 00:46:49 -04:00
parent d2abd53692
commit a78ab02144
2 changed files with 140 additions and 105 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
+8 -27
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@@ -263,42 +263,24 @@ private:
} _control_mode_current{FW_POSCTRL_MODE_OTHER}; ///< used to check the mode in the last control loop iteration. Use to check if the last iteration was in the same mode.
struct {
float l1_period;
float l1_damping;
float time_const;
float time_const_throt;
float min_sink_rate;
float max_sink_rate;
float max_climb_rate;
float climbout_diff;
float heightrate_p;
float heightrate_ff;
float speedrate_p;
float throttle_damp;
float integrator_gain;
float vertical_accel_limit;
float height_comp_filter_omega;
float speed_comp_filter_omega;
float roll_throttle_compensation;
float max_climb_rate;
float max_sink_rate;
float speed_weight;
float pitch_damping;
float airspeed_min;
float airspeed_trim;
float airspeed_max;
float airspeed_trans;
int32_t airspeed_disabled;
float pitch_limit_min;
float pitch_limit_max;
float roll_limit;
float throttle_min;
float throttle_max;
float throttle_idle;
float throttle_cruise;
float throttle_slew_max;
float throttle_alt_scale;
float man_roll_max_rad;
@@ -308,29 +290,29 @@ private:
float throttle_land_max;
float land_slope_angle;
float land_H1_virt;
float land_flare_alt_relative;
float land_thrust_lim_alt_relative;
float land_heading_hold_horizontal_distance;
float land_flare_pitch_min_deg;
float land_flare_pitch_max_deg;
int32_t land_use_terrain_estimate;
float land_airspeed_scale;
// VTOL
float airspeed_trans;
int32_t vtol_type;
} _parameters{}; ///< local copies of interesting parameters */
struct {
param_t climbout_diff;
param_t l1_period;
param_t l1_damping;
param_t roll_limit;
param_t time_const;
param_t time_const_throt;
param_t min_sink_rate;
param_t max_sink_rate;
param_t max_climb_rate;
param_t climbout_diff;
param_t heightrate_p;
param_t heightrate_ff;
param_t speedrate_p;
@@ -351,7 +333,6 @@ private:
param_t pitch_limit_min;
param_t pitch_limit_max;
param_t roll_limit;
param_t throttle_min;
param_t throttle_max;