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delete unused tailsitter_recovery library (#9103)

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This commit is contained in:
Daniel Agar
2018-03-21 14:09:36 -04:00
committed by GitHub
parent b7bfeb442e
commit ac7242987c
7 changed files with 2 additions and 362 deletions
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src/modules/mc_att_control/mc_att_control_main.cpp
+1 -43
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@@ -55,8 +55,6 @@
* If rotation matrix setpoint is invalid it will be generated from Euler angles for compatibility with old position controllers.
*/
#include "tailsitter_recovery/tailsitter_recovery.h"
#include <conversion/rotation.h>
#include <drivers/drv_hrt.h>
#include <lib/geo/geo.h>
@@ -223,8 +221,6 @@ private:
param_t acro_superexpo;
param_t rattitude_thres;
param_t vtol_type;
param_t vtol_opt_recovery_enabled;
param_t vtol_wv_yaw_rate_scale;
param_t bat_scale_en;
@@ -264,8 +260,6 @@ private:
float acro_superexpo; /**< function parameter for superexpo stick curve shape */
float rattitude_thres;
int32_t vtol_type; /**< 0 = Tailsitter, 1 = Tiltrotor, 2 = Standard airframe */
bool vtol_opt_recovery_enabled;
float vtol_wv_yaw_rate_scale; /**< Scale value [0, 1] for yaw rate setpoint */
int32_t bat_scale_en;
@@ -276,8 +270,6 @@ private:
} _params;
TailsitterRecovery *_ts_opt_recovery{nullptr}; /**< Computes optimal rates for tailsitter recovery */
/**
* Update our local parameter cache.
*/
@@ -511,8 +503,6 @@ MulticopterAttitudeControl::~MulticopterAttitudeControl()
} while (_control_task != -1);
}
delete _ts_opt_recovery;
mc_att_control::g_control = nullptr;
}
@@ -613,16 +603,9 @@ MulticopterAttitudeControl::parameters_update()
param_get(_params_handles.rattitude_thres, &_params.rattitude_thres);
if (_vehicle_status.is_vtol) {
param_get(_params_handles.vtol_type, &_params.vtol_type);
int32_t tmp;
param_get(_params_handles.vtol_opt_recovery_enabled, &tmp);
_params.vtol_opt_recovery_enabled = (tmp == 1);
param_get(_params_handles.vtol_wv_yaw_rate_scale, &_params.vtol_wv_yaw_rate_scale);
} else {
_params.vtol_opt_recovery_enabled = false;
_params.vtol_wv_yaw_rate_scale = 0.f;
}
@@ -730,17 +713,10 @@ MulticopterAttitudeControl::vehicle_status_poll()
_rates_sp_id = ORB_ID(mc_virtual_rates_setpoint);
_actuators_id = ORB_ID(actuator_controls_virtual_mc);
_params_handles.vtol_type = param_find("VT_TYPE");
_params_handles.vtol_opt_recovery_enabled = param_find("VT_OPT_RECOV_EN");
_params_handles.vtol_wv_yaw_rate_scale = param_find("VT_WV_YAWR_SCL");
parameters_update();
if (_params.vtol_type == 0 && _params.vtol_opt_recovery_enabled) {
// the vehicle is a tailsitter, use optimal recovery control strategy
_ts_opt_recovery = new TailsitterRecovery();
}
} else {
_rates_sp_id = ORB_ID(vehicle_rates_setpoint);
_actuators_id = ORB_ID(actuator_controls_0);
@@ -1153,25 +1129,7 @@ MulticopterAttitudeControl::task_main()
if (_v_control_mode.flag_control_attitude_enabled) {
if (_ts_opt_recovery == nullptr) {
// the tailsitter recovery instance has not been created, thus, the vehicle
// is not a tailsitter, do normal attitude control
control_attitude(dt);
} else {
vehicle_attitude_setpoint_poll();
_thrust_sp = _v_att_sp.thrust;
math::Quaternion q(_v_att.q[0], _v_att.q[1], _v_att.q[2], _v_att.q[3]);
math::Quaternion q_sp(&_v_att_sp.q_d[0]);
math::Vector<3> attitude_p(_params.attitude_p.data());
_ts_opt_recovery->setAttGains(attitude_p, _params.yaw_ff);
_ts_opt_recovery->calcOptimalRates(q, q_sp, _v_att_sp.yaw_sp_move_rate, _rates_sp);
/* limit rates */
for (int i = 0; i < 3; i++) {
_rates_sp(i) = math::constrain(_rates_sp(i), -_params.mc_rate_max(i), _params.mc_rate_max(i));
}
}
control_attitude(dt);
/* publish attitude rates setpoint */
_v_rates_sp.roll = _rates_sp(0);