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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_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);