diff options
| author | Thomas Gubler <thomasgubler@gmail.com> | 2013-12-29 16:42:31 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2013-12-29 16:42:39 +0100 |
| commit | 95bdc1a9bd364ce95abe06b097579cc8a9162e33 (patch) | |
| tree | 2b93a7b41fff5d719e240babf54ad22871c3f223 /src/modules/fw_att_control | |
| parent | 6a9423b428c78e4c2ea295544df50f5b1f0cd49d (diff) | |
| download | px4-firmware-95bdc1a9bd364ce95abe06b097579cc8a9162e33.tar.gz px4-firmware-95bdc1a9bd364ce95abe06b097579cc8a9162e33.tar.bz2 px4-firmware-95bdc1a9bd364ce95abe06b097579cc8a9162e33.zip | |
fw att ctrl: removed unused parameter
Diffstat (limited to 'src/modules/fw_att_control')
| -rw-r--r-- | src/modules/fw_att_control/fw_att_control_main.cpp | 3 | ||||
| -rw-r--r-- | src/modules/fw_att_control/fw_att_control_params.c | 4 |
2 files changed, 1 insertions, 6 deletions
diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp index 9d8b420ac..df9d325b3 100644 --- a/src/modules/fw_att_control/fw_att_control_main.cpp +++ b/src/modules/fw_att_control/fw_att_control_main.cpp @@ -326,7 +326,6 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() : _parameter_handles.y_p = param_find("FW_YR_P"); _parameter_handles.y_i = param_find("FW_YR_I"); _parameter_handles.y_ff = param_find("FW_YR_FF"); - _parameter_handles.y_roll_feedforward = param_find("FW_Y_ROLLFF"); _parameter_handles.y_integrator_max = param_find("FW_YR_IMAX"); _parameter_handles.y_rmax = param_find("FW_Y_RMAX"); @@ -388,7 +387,6 @@ FixedwingAttitudeControl::parameters_update() param_get(_parameter_handles.y_p, &(_parameters.y_p)); param_get(_parameter_handles.y_i, &(_parameters.y_i)); param_get(_parameter_handles.y_ff, &(_parameters.y_ff)); - param_get(_parameter_handles.y_roll_feedforward, &(_parameters.y_roll_feedforward)); param_get(_parameter_handles.y_integrator_max, &(_parameters.y_integrator_max)); param_get(_parameter_handles.y_coordinated_min_speed, &(_parameters.y_coordinated_min_speed)); param_get(_parameter_handles.y_rmax, &(_parameters.y_rmax)); @@ -419,7 +417,6 @@ FixedwingAttitudeControl::parameters_update() _yaw_ctrl.set_k_p(_parameters.y_p); _yaw_ctrl.set_k_i(_parameters.y_i); _yaw_ctrl.set_k_ff(_parameters.y_ff); - _yaw_ctrl.set_k_roll_ff(_parameters.y_roll_feedforward); _yaw_ctrl.set_integrator_max(_parameters.y_integrator_max); _yaw_ctrl.set_coordinated_min_speed(_parameters.y_coordinated_min_speed); _yaw_ctrl.set_max_rate(math::radians(_parameters.y_rmax)); diff --git a/src/modules/fw_att_control/fw_att_control_params.c b/src/modules/fw_att_control/fw_att_control_params.c index 16227b62f..1c615094c 100644 --- a/src/modules/fw_att_control/fw_att_control_params.c +++ b/src/modules/fw_att_control/fw_att_control_params.c @@ -86,7 +86,7 @@ PARAM_DEFINE_FLOAT(FW_PR_IMAX, 0.2f); // @Range 0.5 2.0 // @Increment 0.05 // @User User -PARAM_DEFINE_FLOAT(FW_P_ROLLFF, 0.0f); +PARAM_DEFINE_FLOAT(FW_P_ROLLFF, 0.0f); //xxx: set to 0 as default, see comment in ECL_PitchController::control_attitude (float turn_offset = ...) // @DisplayName Roll rate proportional Gain. // @Description This defines how much the aileron input will be commanded depending on the current body angular rate error. @@ -130,8 +130,6 @@ PARAM_DEFINE_FLOAT(FW_YR_I, 0.0f); // @Increment 0.1 PARAM_DEFINE_FLOAT(FW_YR_IMAX, 0.2f); -PARAM_DEFINE_FLOAT(FW_Y_ROLLFF, 0); //xxx: remove - // @DisplayName Maximum Yaw Rate // @Description This limits the maximum yaw rate the controller will output (in degrees per second). Setting a value of zero disables the limit. // @Range 0 to 90.0 degrees per seconds |