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delete RATTITUDE flight mode

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This commit is contained in:
Daniel Agar
2021-03-09 10:47:00 -05:00
parent d37510a43d
commit bb12fce66c
26 changed files with 50 additions and 222 deletions
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src/modules/mc_att_control/mc_att_control.hpp
-2
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@@ -148,8 +148,6 @@ private:
(ParamFloat<px4::params::MPC_MAN_Y_MAX>) _param_mpc_man_y_max, /**< scaling factor from stick to yaw rate */
(ParamFloat<px4::params::MC_RATT_TH>) _param_mc_ratt_th,
/* Stabilized mode params */
(ParamFloat<px4::params::MPC_MAN_TILT_MAX>) _param_mpc_man_tilt_max, /**< maximum tilt allowed for manual flight */
(ParamFloat<px4::params::MPC_MANTHR_MIN>) _param_mpc_manthr_min, /**< minimum throttle for stabilized */
src/modules/mc_att_control/mc_att_control_main.cpp
+1 -12
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@@ -287,15 +287,6 @@ MulticopterAttitudeControl::Run()
}
}
/* Check if we are in rattitude mode and the pilot is above the threshold on pitch
* or roll (yaw can rotate 360 in normal att control). If both are true don't
* even bother running the attitude controllers */
if (_v_control_mode.flag_control_rattitude_enabled) {
_v_control_mode.flag_control_attitude_enabled =
fabsf(_manual_control_setpoint.y) <= _param_mc_ratt_th.get() &&
fabsf(_manual_control_setpoint.x) <= _param_mc_ratt_th.get();
}
bool attitude_setpoint_generated = false;
const bool is_hovering = (_vehicle_type_rotary_wing && !_vtol_in_transition_mode);
@@ -338,9 +329,7 @@ MulticopterAttitudeControl::Run()
// reset yaw setpoint during transitions, tailsitter.cpp generates
// attitude setpoint for the transition
_reset_yaw_sp = (!attitude_setpoint_generated && !_v_control_mode.flag_control_rattitude_enabled) ||
_landed || (_vtol && _vtol_in_transition_mode);
_reset_yaw_sp = !attitude_setpoint_generated || _landed || (_vtol && _vtol_in_transition_mode);
}
perf_end(_loop_perf);
src/modules/mc_att_control/mc_att_control_params.c
-14
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@@ -146,20 +146,6 @@ PARAM_DEFINE_FLOAT(MC_PITCHRATE_MAX, 220.0f);
*/
PARAM_DEFINE_FLOAT(MC_YAWRATE_MAX, 200.0f);
/**
* Threshold for Rattitude mode
*
* Manual input needed in order to override attitude control rate setpoints
* and instead pass manual stick inputs as rate setpoints
*
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.01
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_RATT_TH, 0.8f);
/**
* Manual tilt input filter time constant
* Setting this parameter to 0 disables the filter