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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_rate_control/MulticopterRateControl.cpp
-8
View File
@@ -172,14 +172,6 @@ MulticopterRateControl::Run()
if (!_v_control_mode.flag_control_attitude_enabled) {
manual_rate_sp = true;
}
// Check if we are in rattitude mode and the pilot is within the center threshold on pitch and roll
// if true then use published rate setpoint, otherwise generate from manual_control_setpoint (like acro)
if (_v_control_mode.flag_control_rattitude_enabled) {
manual_rate_sp =
(fabsf(_manual_control_setpoint.y) > _param_mc_ratt_th.get()) ||
(fabsf(_manual_control_setpoint.x) > _param_mc_ratt_th.get());
}
}
if (manual_rate_sp) {
src/modules/mc_rate_control/MulticopterRateControl.hpp
-2
View File
@@ -160,8 +160,6 @@ private:
(ParamFloat<px4::params::MC_ACRO_SUPEXPO>) _param_mc_acro_supexpo, /**< superexpo stick curve shape (roll & pitch) */
(ParamFloat<px4::params::MC_ACRO_SUPEXPOY>) _param_mc_acro_supexpoy, /**< superexpo stick curve shape (yaw) */
(ParamFloat<px4::params::MC_RATT_TH>) _param_mc_ratt_th,
(ParamBool<px4::params::MC_BAT_SCALE_EN>) _param_mc_bat_scale_en,
(ParamInt<px4::params::CBRK_RATE_CTRL>) _param_cbrk_rate_ctrl