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FW attitude controller: remove deprecated ecl_controller

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
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Silvan Fuhrer
2023-12-07 17:21:09 +01:00
parent b1317daa9c
commit c61ac784b6
4 changed files with 0 additions and 192 deletions
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src/modules/fw_att_control/FixedwingAttitudeControl.cpp
-15
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@@ -322,21 +322,6 @@ void FixedwingAttitudeControl::Run()
}
}
/* Prepare data for attitude controllers */
ECL_ControlData control_input{};
control_input.roll = euler_angles.phi();
control_input.pitch = euler_angles.theta();
control_input.yaw = euler_angles.psi();
control_input.body_z_rate = angular_velocity.xyz[2];
control_input.roll_setpoint = _att_sp.roll_body;
control_input.pitch_setpoint = _att_sp.pitch_body;
control_input.yaw_setpoint = _att_sp.yaw_body;
control_input.euler_pitch_rate_setpoint = _pitch_ctrl.get_euler_rate_setpoint();
control_input.euler_yaw_rate_setpoint = _yaw_ctrl.get_euler_rate_setpoint();
control_input.airspeed_constrained = get_airspeed_constrained();
control_input.groundspeed = _groundspeed;
control_input.groundspeed_scaler = groundspeed_scale;
/* Run attitude controllers */
if (_vcontrol_mode.flag_control_attitude_enabled && _in_fw_or_transition_wo_tailsitter_transition) {