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authorThomas Gubler <thomasgubler@gmail.com>2014-06-11 19:44:17 +0200
committerThomas Gubler <thomasgubler@gmail.com>2014-06-11 19:44:17 +0200
commite548eeb5890d3691514c7a2ff67be75136c1c557 (patch)
treeb8c95bccce230bc7752a07a0222ac4296aa29a93 /src/modules/fw_pos_control_l1
parente03411fc89fcdf36bfca68b5e27e319b56985782 (diff)
parent251760679a4bed86fdb10746062fde2cc23e460f (diff)
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Merge remote-tracking branch 'upstream/master' into mtecs
Diffstat (limited to 'src/modules/fw_pos_control_l1')
-rw-r--r--src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp6
-rw-r--r--src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c11
2 files changed, 0 insertions, 17 deletions
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
index 954431fa3..fe4eb66a9 100644
--- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
@@ -235,8 +235,6 @@ private:
float throttle_land_max;
- float loiter_hold_radius;
-
float heightrate_p;
float speedrate_p;
@@ -280,8 +278,6 @@ private:
param_t throttle_land_max;
- param_t loiter_hold_radius;
-
param_t heightrate_p;
param_t speedrate_p;
@@ -459,7 +455,6 @@ FixedwingPositionControl::FixedwingPositionControl() :
_parameter_handles.l1_period = param_find("FW_L1_PERIOD");
_parameter_handles.l1_damping = param_find("FW_L1_DAMPING");
- _parameter_handles.loiter_hold_radius = param_find("FW_LOITER_R");
_parameter_handles.airspeed_min = param_find("FW_AIRSPD_MIN");
_parameter_handles.airspeed_trim = param_find("FW_AIRSPD_TRIM");
@@ -531,7 +526,6 @@ FixedwingPositionControl::parameters_update()
/* L1 control parameters */
param_get(_parameter_handles.l1_damping, &(_parameters.l1_damping));
param_get(_parameter_handles.l1_period, &(_parameters.l1_period));
- param_get(_parameter_handles.loiter_hold_radius, &(_parameters.loiter_hold_radius));
param_get(_parameter_handles.airspeed_min, &(_parameters.airspeed_min));
param_get(_parameter_handles.airspeed_trim, &(_parameters.airspeed_trim));
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
index f258f77da..52128e1b7 100644
--- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
+++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
@@ -72,17 +72,6 @@ PARAM_DEFINE_FLOAT(FW_L1_PERIOD, 25.0f);
PARAM_DEFINE_FLOAT(FW_L1_DAMPING, 0.75f);
/**
- * Default Loiter Radius
- *
- * This radius is used when no other loiter radius is set.
- *
- * @min 10.0
- * @max 100.0
- * @group L1 Control
- */
-PARAM_DEFINE_FLOAT(FW_LOITER_R, 50.0f);
-
-/**
* Cruise throttle
*
* This is the throttle setting required to achieve the desired cruise speed. Most airframes have a value of 0.5-0.7.