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FW Position controller: remove unused climbout arguments

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-01-26 17:04:43 +01:00
parent aae431e4d5
commit e16f98c2b6
4 changed files with 8 additions and 60 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+2 -27
View File
@@ -526,7 +526,6 @@ FixedwingPositionControl::status_publish()
pos_ctrl_status.nav_bearing = NAN;
pos_ctrl_status.target_bearing = NAN;
pos_ctrl_status.xtrack_error = NAN;
}
if (_param_fw_use_npfg.get()) {
@@ -944,8 +943,6 @@ FixedwingPositionControl::control_auto_fixed_bank_alt_hold(const float control_i
radians(_param_fw_p_lim_max.get()),
_param_fw_thr_min.get(),
_param_fw_thr_max.get(),
false,
_param_fw_p_lim_min.get(),
_param_sinkrate_target.get(),
_param_climbrate_target.get());
@@ -979,8 +976,6 @@ FixedwingPositionControl::control_auto_descend(const float control_interval)
radians(_param_fw_p_lim_max.get()),
_param_fw_thr_min.get(),
_param_fw_thr_max.get(),
false,
_param_fw_p_lim_min.get(),
_param_sinkrate_target.get(),
_param_climbrate_target.get(),
false,
@@ -1167,8 +1162,6 @@ FixedwingPositionControl::control_auto_position(const float control_interval, co
radians(_param_fw_p_lim_max.get()),
tecs_fw_thr_min,
tecs_fw_thr_max,
false,
radians(_param_fw_p_lim_min.get()),
_param_sinkrate_target.get(),
_param_climbrate_target.get());
}
@@ -1226,8 +1219,6 @@ FixedwingPositionControl::control_auto_velocity(const float control_interval, co
radians(_param_fw_p_lim_max.get()),
tecs_fw_thr_min,
tecs_fw_thr_max,
false,
radians(_param_fw_p_lim_min.get()),
_param_sinkrate_target.get(),
_param_climbrate_target.get(),
tecs_status_s::TECS_MODE_NORMAL,
@@ -1348,8 +1339,6 @@ FixedwingPositionControl::control_auto_loiter(const float control_interval, cons
radians(_param_fw_p_lim_max.get()),
tecs_fw_thr_min,
tecs_fw_thr_max,
false,
radians(_param_fw_p_lim_min.get()),
_param_sinkrate_target.get(),
_param_climbrate_target.get());
}
@@ -1483,8 +1472,6 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo
pitch_max,
_param_fw_thr_min.get(),
_param_fw_thr_max.get(),
false,
pitch_min,
_param_sinkrate_target.get(),
_param_fw_t_clmb_max.get());
@@ -1564,8 +1551,6 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo
radians(_param_fw_p_lim_max.get()),
_param_fw_thr_min.get(),
max_takeoff_throttle,
false,
radians(_takeoff_pitch_min.get()),
_param_sinkrate_target.get(),
_param_fw_t_clmb_max.get());
@@ -1760,8 +1745,6 @@ FixedwingPositionControl::control_auto_landing(const hrt_abstime &now, const flo
pitch_max_rad,
_param_fw_thr_idle.get(),
throttle_max,
false,
pitch_min_rad,
_param_sinkrate_target.get(),
_param_climbrate_target.get(),
true,
@@ -1832,8 +1815,6 @@ FixedwingPositionControl::control_auto_landing(const hrt_abstime &now, const flo
radians(_param_fw_p_lim_max.get()),
_param_fw_thr_min.get(),
_param_fw_thr_max.get(),
false,
radians(_param_fw_p_lim_min.get()),
desired_max_sinkrate,
_param_climbrate_target.get());
@@ -1895,8 +1876,6 @@ FixedwingPositionControl::control_manual_altitude(const float control_interval,
radians(_param_fw_p_lim_max.get()),
_param_fw_thr_min.get(),
throttle_max,
false,
min_pitch,
_param_sinkrate_target.get(),
_param_climbrate_target.get(),
false,
@@ -2004,8 +1983,6 @@ FixedwingPositionControl::control_manual_position(const float control_interval,
radians(_param_fw_p_lim_max.get()),
_param_fw_thr_min.get(),
throttle_max,
false,
min_pitch,
_param_sinkrate_target.get(),
_param_climbrate_target.get(),
false,
@@ -2438,8 +2415,8 @@ float FixedwingPositionControl::compensateTrimThrottleForDensityAndWeight(float
void
FixedwingPositionControl::tecs_update_pitch_throttle(const float control_interval, float alt_sp, float airspeed_sp,
float pitch_min_rad, float pitch_max_rad, float throttle_min, float throttle_max, bool climbout_mode,
float climbout_pitch_min_rad, const float desired_max_sinkrate, const float desired_max_climbrate,
float pitch_min_rad, float pitch_max_rad, float throttle_min, float throttle_max,
const float desired_max_sinkrate, const float desired_max_climbrate,
bool disable_underspeed_detection, float hgt_rate_sp)
{
_tecs_is_running = true;
@@ -2514,8 +2491,6 @@ FixedwingPositionControl::tecs_update_pitch_throttle(const float control_interva
airspeed_sp,
_airspeed,
_eas2tas,
climbout_mode,
climbout_pitch_min_rad - radians(_param_fw_psp_off.get()),
throttle_min,
throttle_max,
throttle_trim_comp,
src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
+2 -4
View File
@@ -701,16 +701,14 @@ private:
* @param pitch_max_rad Nominal pitch angle command maximum [rad]
* @param throttle_min Minimum throttle command [0,1]
* @param throttle_max Maximum throttle command [0,1]
* @param climbout_mode True if TECS should engage climbout mode
* @param climbout_pitch_min_rad Minimum pitch angle command in climbout mode [rad]
* @param desired_max_sink_rate The desired max sink rate commandable when altitude errors are large [m/s]
* @param desired_max_climb_rate The desired max climb rate commandable when altitude errors are large [m/s]
* @param disable_underspeed_detection True if underspeed detection should be disabled
* @param hgt_rate_sp Height rate setpoint [m/s]
*/
void tecs_update_pitch_throttle(const float control_interval, float alt_sp, float airspeed_sp, float pitch_min_rad,
float pitch_max_rad, float throttle_min, float throttle_max, bool climbout_mode,
float climbout_pitch_min_rad, const float desired_max_sink_rate, const float desired_max_climb_rate,
float pitch_max_rad, float throttle_min, float throttle_max,
const float desired_max_sink_rate, const float desired_max_climb_rate,
bool disable_underspeed_detection = false, float hgt_rate_sp = NAN);
/**