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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-04-03 20:54:28 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-04-03 20:54:28 +0400 |
| commit | e2ac5222d812bdbfaf33fc2d320ee22ab861d433 (patch) | |
| tree | c688b2b9307b65b54013a3af12744f25a7bda690 /src/modules/mc_pos_control/mc_pos_control_main.cpp | |
| parent | 6f38ed3b4b6f266098d0616b6bd3c18ffe082755 (diff) | |
| download | px4-firmware-e2ac5222d812bdbfaf33fc2d320ee22ab861d433.tar.gz px4-firmware-e2ac5222d812bdbfaf33fc2d320ee22ab861d433.tar.bz2 px4-firmware-e2ac5222d812bdbfaf33fc2d320ee22ab861d433.zip | |
mc_att_control, mc_pos_control: update manual_control_setpoint usage
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 78d06ba5b..2bd2d356a 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -148,9 +148,6 @@ 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 { @@ -160,9 +157,6 @@ 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; @@ -306,8 +300,6 @@ 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); @@ -354,8 +346,6 @@ 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); @@ -608,8 +598,8 @@ MulticopterPositionControl::task_main() reset_lat_lon_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 */ |