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| author | Anton Babushkin <anton.babushkin@me.com> | 2013-12-22 22:41:46 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-12-22 22:41:46 +0400 |
| commit | 4c6f6ed12cc90a7a0365fc22b56c59dfa3d55028 (patch) | |
| tree | c5cefb1e859eac52174cd03f8fb59af33a4f14c1 /src/modules/multirotor_pos_control/multirotor_pos_control_params.c | |
| parent | fae6c694239194bbdbc7c872bb1a1d11a8894474 (diff) | |
| download | px4-firmware-4c6f6ed12cc90a7a0365fc22b56c59dfa3d55028.tar.gz px4-firmware-4c6f6ed12cc90a7a0365fc22b56c59dfa3d55028.tar.bz2 px4-firmware-4c6f6ed12cc90a7a0365fc22b56c59dfa3d55028.zip | |
multirotor_pos_control: remove unused parameters, use ellipsoid for velocity setpoint limiting
Diffstat (limited to 'src/modules/multirotor_pos_control/multirotor_pos_control_params.c')
| -rw-r--r-- | src/modules/multirotor_pos_control/multirotor_pos_control_params.c | 12 |
1 files changed, 0 insertions, 12 deletions
diff --git a/src/modules/multirotor_pos_control/multirotor_pos_control_params.c b/src/modules/multirotor_pos_control/multirotor_pos_control_params.c index 1c798b007..bebcdb3f5 100644 --- a/src/modules/multirotor_pos_control/multirotor_pos_control_params.c +++ b/src/modules/multirotor_pos_control/multirotor_pos_control_params.c @@ -44,17 +44,13 @@ PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.2f); PARAM_DEFINE_FLOAT(MPC_THR_MAX, 0.8f); PARAM_DEFINE_FLOAT(MPC_Z_P, 1.0f); -PARAM_DEFINE_FLOAT(MPC_Z_D, 0.0f); PARAM_DEFINE_FLOAT(MPC_Z_VEL_P, 0.2f); PARAM_DEFINE_FLOAT(MPC_Z_VEL_I, 0.1f); -PARAM_DEFINE_FLOAT(MPC_Z_VEL_D, 0.0f); PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX, 3.0f); PARAM_DEFINE_FLOAT(MPC_Z_FF, 0.5f); PARAM_DEFINE_FLOAT(MPC_XY_P, 0.5f); -PARAM_DEFINE_FLOAT(MPC_XY_D, 0.0f); PARAM_DEFINE_FLOAT(MPC_XY_VEL_P, 0.1f); PARAM_DEFINE_FLOAT(MPC_XY_VEL_I, 0.05f); -PARAM_DEFINE_FLOAT(MPC_XY_VEL_D, 0.0f); PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 5.0f); PARAM_DEFINE_FLOAT(MPC_XY_FF, 0.5f); PARAM_DEFINE_FLOAT(MPC_TILT_MAX, 0.5f); @@ -66,17 +62,13 @@ int parameters_init(struct multirotor_position_control_param_handles *h) h->thr_min = param_find("MPC_THR_MIN"); h->thr_max = param_find("MPC_THR_MAX"); h->z_p = param_find("MPC_Z_P"); - h->z_d = param_find("MPC_Z_D"); h->z_vel_p = param_find("MPC_Z_VEL_P"); h->z_vel_i = param_find("MPC_Z_VEL_I"); - h->z_vel_d = param_find("MPC_Z_VEL_D"); h->z_vel_max = param_find("MPC_Z_VEL_MAX"); h->z_ff = param_find("MPC_Z_FF"); h->xy_p = param_find("MPC_XY_P"); - h->xy_d = param_find("MPC_XY_D"); h->xy_vel_p = param_find("MPC_XY_VEL_P"); h->xy_vel_i = param_find("MPC_XY_VEL_I"); - h->xy_vel_d = param_find("MPC_XY_VEL_D"); h->xy_vel_max = param_find("MPC_XY_VEL_MAX"); h->xy_ff = param_find("MPC_XY_FF"); h->tilt_max = param_find("MPC_TILT_MAX"); @@ -95,17 +87,13 @@ int parameters_update(const struct multirotor_position_control_param_handles *h, param_get(h->thr_min, &(p->thr_min)); param_get(h->thr_max, &(p->thr_max)); param_get(h->z_p, &(p->z_p)); - param_get(h->z_d, &(p->z_d)); param_get(h->z_vel_p, &(p->z_vel_p)); param_get(h->z_vel_i, &(p->z_vel_i)); - param_get(h->z_vel_d, &(p->z_vel_d)); param_get(h->z_vel_max, &(p->z_vel_max)); param_get(h->z_ff, &(p->z_ff)); param_get(h->xy_p, &(p->xy_p)); - param_get(h->xy_d, &(p->xy_d)); param_get(h->xy_vel_p, &(p->xy_vel_p)); param_get(h->xy_vel_i, &(p->xy_vel_i)); - param_get(h->xy_vel_d, &(p->xy_vel_d)); param_get(h->xy_vel_max, &(p->xy_vel_max)); param_get(h->xy_ff, &(p->xy_ff)); param_get(h->tilt_max, &(p->tilt_max)); |