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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-04-13 11:06:49 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-04-13 11:06:49 +0400 |
| commit | 88149311ea687b62ba28e036e7de09ed2763f2bc (patch) | |
| tree | 9c332da18da9580602e6040bb4eefc160a0c6ec5 /src/modules/mc_pos_control/mc_pos_control_main.cpp | |
| parent | dfd9601b571057e73668d9b39d584bc4eb9cc305 (diff) | |
| parent | 0b97dd2b776ce61fd53776f036230ea0089e26e9 (diff) | |
| download | px4-firmware-88149311ea687b62ba28e036e7de09ed2763f2bc.tar.gz px4-firmware-88149311ea687b62ba28e036e7de09ed2763f2bc.tar.bz2 px4-firmware-88149311ea687b62ba28e036e7de09ed2763f2bc.zip | |
Merge branch 'rc_timeout' into mpc_rc
Diffstat (limited to 'src/modules/mc_pos_control/mc_pos_control_main.cpp')
| -rw-r--r-- | src/modules/mc_pos_control/mc_pos_control_main.cpp | 14 |
1 files changed, 2 insertions, 12 deletions
diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index dc0aa172a..6b797f222 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -151,9 +151,6 @@ private: param_t tilt_max; param_t land_speed; param_t land_tilt_max; - - param_t rc_scale_pitch; - param_t rc_scale_roll; } _params_handles; /**< handles for interesting parameters */ struct { @@ -163,9 +160,6 @@ private: float land_speed; float land_tilt_max; - float rc_scale_pitch; - float rc_scale_roll; - math::Vector<3> pos_p; math::Vector<3> vel_p; math::Vector<3> vel_i; @@ -317,8 +311,6 @@ MulticopterPositionControl::MulticopterPositionControl() : _params_handles.tilt_max = param_find("MPC_TILT_MAX"); _params_handles.land_speed = param_find("MPC_LAND_SPEED"); _params_handles.land_tilt_max = param_find("MPC_LAND_TILT"); - _params_handles.rc_scale_pitch = param_find("RC_SCALE_PITCH"); - _params_handles.rc_scale_roll = param_find("RC_SCALE_ROLL"); /* fetch initial parameter values */ parameters_update(true); @@ -366,8 +358,6 @@ MulticopterPositionControl::parameters_update(bool force) param_get(_params_handles.tilt_max, &_params.tilt_max); param_get(_params_handles.land_speed, &_params.land_speed); param_get(_params_handles.land_tilt_max, &_params.land_tilt_max); - param_get(_params_handles.rc_scale_pitch, &_params.rc_scale_pitch); - param_get(_params_handles.rc_scale_roll, &_params.rc_scale_roll); float v; param_get(_params_handles.xy_p, &v); @@ -633,8 +623,8 @@ MulticopterPositionControl::task_main() reset_pos_sp(); /* move position setpoint with roll/pitch stick */ - sp_move_rate(0) = scale_control(-_manual.pitch / _params.rc_scale_pitch, 1.0f, pos_ctl_dz); - sp_move_rate(1) = scale_control(_manual.roll / _params.rc_scale_roll, 1.0f, pos_ctl_dz); + sp_move_rate(0) = _manual.pitch; + sp_move_rate(1) = _manual.roll; } /* limit setpoint move rate */ |