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delete parameter MPC_HOLD_Z_DZ

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This commit is contained in:
Mark Whitehorn
2016-02-12 18:04:01 -07:00
committed by tumbili
parent 8cd4b57c6b
commit d5d3b63dc8
2 changed files with 1 additions and 18 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+1 -7
View File
@@ -189,7 +189,6 @@ private:
param_t global_yaw_max;
param_t mc_att_yaw_p;
param_t hold_xy_dz;
param_t hold_z_dz;
param_t hold_max_xy;
param_t hold_max_z;
param_t acc_hor_max;
@@ -212,7 +211,6 @@ private:
float global_yaw_max;
float mc_att_yaw_p;
float hold_xy_dz;
float hold_z_dz;
float hold_max_xy;
float hold_max_z;
float acc_hor_max;
@@ -448,7 +446,6 @@ MulticopterPositionControl::MulticopterPositionControl() :
_params_handles.global_yaw_max = param_find("MC_YAWRATE_MAX");
_params_handles.mc_att_yaw_p = param_find("MC_YAW_P");
_params_handles.hold_xy_dz = param_find("MPC_HOLD_XY_DZ");
_params_handles.hold_z_dz = param_find("MPC_HOLD_Z_DZ");
_params_handles.hold_max_xy = param_find("MPC_HOLD_MAX_XY");
_params_handles.hold_max_z = param_find("MPC_HOLD_MAX_Z");
_params_handles.acc_hor_max = param_find("MPC_ACC_HOR_MAX");
@@ -546,9 +543,6 @@ MulticopterPositionControl::parameters_update(bool force)
param_get(_params_handles.hold_xy_dz, &v);
v = math::constrain(v, 0.0f, 1.0f);
_params.hold_xy_dz = v;
param_get(_params_handles.hold_z_dz, &v);
v = math::constrain(v, 0.0f, 1.0f);
_params.hold_z_dz = v;
param_get(_params_handles.hold_max_xy, &v);
_params.hold_max_xy = (v < 0.0f ? 0.0f : v);
param_get(_params_handles.hold_max_z, &v);
@@ -829,7 +823,7 @@ MulticopterPositionControl::control_manual(float dt)
/* vertical axis */
if (_control_mode.flag_control_altitude_enabled) {
/* check for pos. hold */
if (fabsf(req_vel_sp(2)) < _params.hold_z_dz) {
if (fabsf(req_vel_sp(2)) < FLT_EPSILON) {
if (!_alt_hold_engaged) {
if (_params.hold_max_z < FLT_EPSILON || fabsf(_vel(2)) < _params.hold_max_z) {
_alt_hold_engaged = true;
src/modules/mc_pos_control/mc_pos_control_params.c
-11
View File
@@ -348,17 +348,6 @@ PARAM_DEFINE_FLOAT(MPC_MAN_Y_MAX, 120.0f);
*/
PARAM_DEFINE_FLOAT(MPC_HOLD_XY_DZ, 0.1f);
/**
* Deadzone of Z stick where altitude hold is enabled
*
* @unit %
* @min 0.0
* @max 1.0
* @decimal 2
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_HOLD_Z_DZ, 0.1f);
/**
* Maximum horizontal velocity for which position hold is enabled (use 0 to disable check)
*