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mc_pos_control: delete leftover from transitional changes for vel_max_z (#6822)

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Dennis Mannhart
2017-03-20 10:06:29 +01:00
committed by GitHub
parent 31aff0b6c0
commit c9643cb075
2 changed files with 1 additions and 19 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+1 -9
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@@ -500,15 +500,7 @@ MulticopterPositionControl::MulticopterPositionControl() :
_params_handles.z_vel_i = param_find("MPC_Z_VEL_I"); _params_handles.z_vel_i = param_find("MPC_Z_VEL_I");
_params_handles.z_vel_d = param_find("MPC_Z_VEL_D"); _params_handles.z_vel_d = param_find("MPC_Z_VEL_D");
_params_handles.z_vel_max_up = param_find("MPC_Z_VEL_MAX_UP"); _params_handles.z_vel_max_up = param_find("MPC_Z_VEL_MAX_UP");
_params_handles.z_vel_max_down = param_find("MPC_Z_VEL_MAX"); _params_handles.z_vel_max_down = param_find("MPC_Z_VEL_MAX_DN");
// transitional support: Copy param values from max to down
// param so that max param can be renamed in 1-2 releases
// (currently at 1.3.0)
float p;
param_get(param_find("MPC_Z_VEL_MAX"), &p);
param_set(param_find("MPC_Z_VEL_MAX_DN"), &p);
_params_handles.z_ff = param_find("MPC_Z_FF"); _params_handles.z_ff = param_find("MPC_Z_FF");
_params_handles.xy_p = param_find("MPC_XY_P"); _params_handles.xy_p = param_find("MPC_XY_P");
_params_handles.xy_vel_p = param_find("MPC_XY_VEL_P"); _params_handles.xy_vel_p = param_find("MPC_XY_VEL_P");
src/modules/mc_pos_control/mc_pos_control_params.c
-10
View File
@@ -214,16 +214,6 @@ PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX_UP, 3.0f);
* @max 4.0 * @max 4.0
* @group Multicopter Position Control * @group Multicopter Position Control
*/ */
PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX, 1.0f);
/**
* Transitional support, do not change / use
*
* @unit m/s
* @min 0.5
* @max 4.0
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX_DN, 1.0f); PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX_DN, 1.0f);
/** /**