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FlightTaskManualPosition: Remove MPC_ACC_HOR_ESTM parameter. This was

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used back in time when no soothing was done to avoid large steps when
the estimator stops sending a maximum velocity (e.g.:GPS gained during
optical flow flight). Since smoothing is applied later, this is not
required anymore.
This commit is contained in:
bresch
2019-12-11 17:21:57 +02:00
committed by Mathieu Bresciani
parent a3d30fc970
commit d0bdd80129
3 changed files with 3 additions and 27 deletions
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src/lib/flight_tasks/tasks/ManualPosition/FlightTaskManualPosition.cpp
+2 -10
View File
@@ -101,16 +101,8 @@ void FlightTaskManualPosition::_scaleSticks()
// Allow for a minimum of 0.3 m/s for repositioning
_velocity_scale = fmaxf(_velocity_scale, 0.3f);
} else if (stick_xy.length() > 0.5f) {
// raise the limit at a constant rate up to the user specified value
if (_velocity_scale < _constraints.speed_xy) {
_velocity_scale += _deltatime * _param_mpc_acc_hor_estm.get();
} else {
_velocity_scale = _constraints.speed_xy;
}
} else {
_velocity_scale = _constraints.speed_xy;
}
_velocity_scale = fminf(_computeVelXYGroundDist(), _velocity_scale);
src/lib/flight_tasks/tasks/ManualPosition/FlightTaskManualPosition.hpp
+1 -2
View File
@@ -67,8 +67,7 @@ protected:
(ParamFloat<px4::params::MPC_VEL_MANUAL>) _param_mpc_vel_manual,
(ParamFloat<px4::params::MPC_LAND_VEL_XY>) _param_mpc_land_vel_xy,
(ParamFloat<px4::params::MPC_ACC_HOR_MAX>) _param_mpc_acc_hor_max,
(ParamFloat<px4::params::MPC_HOLD_MAX_XY>) _param_mpc_hold_max_xy,
(ParamFloat<px4::params::MPC_ACC_HOR_ESTM>) _param_mpc_acc_hor_estm
(ParamFloat<px4::params::MPC_HOLD_MAX_XY>) _param_mpc_hold_max_xy
)
private:
float _computeVelXYGroundDist();