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FixedwingRateControl: Remove old battery scaling

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This commit is contained in:
Balduin
2026-01-07 16:05:13 +01:00
parent db516bc18d
commit b9321d326e
3 changed files with 0 additions and 31 deletions
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src/modules/fw_rate_control/FixedwingRateControl.cpp
-14
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@@ -394,20 +394,6 @@ void FixedwingRateControl::Run()
/* throttle passed through if it is finite */
_vehicle_thrust_setpoint.xyz[0] = PX4_ISFINITE(_rates_sp.thrust_body[0]) ? _rates_sp.thrust_body[0] : 0.0f;
/* scale effort by battery status */
if (_param_fw_bat_scale_en.get() && _vehicle_thrust_setpoint.xyz[0] > 0.1f) {
if (_battery_status_sub.updated()) {
battery_status_s battery_status{};
if (_battery_status_sub.copy(&battery_status) && battery_status.connected && battery_status.scale > 0.f) {
_battery_scale = battery_status.scale;
}
}
_vehicle_thrust_setpoint.xyz[0] *= _battery_scale;
}
}
// publish rate controller status
src/modules/fw_rate_control/FixedwingRateControl.hpp
-6
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@@ -57,7 +57,6 @@
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/actuator_controls_status.h>
#include <uORB/topics/airspeed_validated.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/control_allocator_status.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/normalized_unsigned_setpoint.h>
@@ -103,7 +102,6 @@ private:
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
uORB::Subscription _battery_status_sub{ORB_ID(battery_status)};
uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
uORB::Subscription _rates_sp_sub{ORB_ID(vehicle_rates_setpoint)};
uORB::Subscription _vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)};
@@ -141,8 +139,6 @@ private:
bool _landed{true};
float _battery_scale{1.0f};
float _energy_integration_time{0.0f};
float _control_energy[4] {};
float _control_prev[3] {};
@@ -173,8 +169,6 @@ private:
(ParamInt<px4::params::FW_ARSP_SCALE_EN>) _param_fw_arsp_scale_en,
(ParamBool<px4::params::FW_BAT_SCALE_EN>) _param_fw_bat_scale_en,
(ParamFloat<px4::params::FW_DTRIM_P_VMAX>) _param_fw_dtrim_p_vmax,
(ParamFloat<px4::params::FW_DTRIM_P_VMIN>) _param_fw_dtrim_p_vmin,
(ParamFloat<px4::params::FW_DTRIM_R_VMAX>) _param_fw_dtrim_r_vmax,
src/modules/fw_rate_control/fw_rate_control_params.c
-11
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@@ -269,17 +269,6 @@ PARAM_DEFINE_FLOAT(FW_ACRO_Y_MAX, 90);
*/
PARAM_DEFINE_FLOAT(FW_ACRO_Z_MAX, 45);
/**
* Enable throttle scale by battery level
*
* This compensates for voltage drop of the battery over time by attempting to
* normalize performance across the operating range of the battery.
*
* @boolean
* @group FW Rate Control
*/
PARAM_DEFINE_INT32(FW_BAT_SCALE_EN, 0);
/**
* Enable airspeed scaling
*