Remove all unused TECS parameters

2 files changed, 0 insertions, 223 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 6c251c237..1fcab2069 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
@@ -199,19 +199,6 @@ private:
 		float l1_period;
 		float l1_damping;
 
-		float time_const;
-		float min_sink_rate;
-		float max_sink_rate;
-		float max_climb_rate;
-		float throttle_damp;
-		float integrator_gain;
-		float vertical_accel_limit;
-		float height_comp_filter_omega;
-		float speed_comp_filter_omega;
-		float roll_throttle_compensation;
-		float speed_weight;
-		float pitch_damping;
-
 		float airspeed_min;
 		float airspeed_trim;
 		float airspeed_max;
@@ -242,19 +229,6 @@ private:
 		param_t l1_period;
 		param_t l1_damping;
 
-		param_t time_const;
-		param_t min_sink_rate;
-		param_t max_sink_rate;
-		param_t max_climb_rate;
-		param_t throttle_damp;
-		param_t integrator_gain;
-		param_t vertical_accel_limit;
-		param_t height_comp_filter_omega;
-		param_t speed_comp_filter_omega;
-		param_t roll_throttle_compensation;
-		param_t speed_weight;
-		param_t pitch_damping;
-
 		param_t airspeed_min;
 		param_t airspeed_trim;
 		param_t airspeed_max;
@@ -470,21 +444,6 @@ FixedwingPositionControl::FixedwingPositionControl() :
 	_parameter_handles.land_heading_hold_horizontal_distance = param_find("FW_LND_HHDIST");
 	_parameter_handles.range_finder_rel_alt = param_find("FW_LND_RFRALT");
 
-	_parameter_handles.time_const = 			param_find("FW_T_TIME_CONST");
-	_parameter_handles.min_sink_rate = 			param_find("FW_T_SINK_MIN");
-	_parameter_handles.max_sink_rate =			param_find("FW_T_SINK_MAX");
-	_parameter_handles.max_climb_rate =			param_find("FW_T_CLMB_MAX");
-	_parameter_handles.throttle_damp = 			param_find("FW_T_THR_DAMP");
-	_parameter_handles.integrator_gain =			param_find("FW_T_INTEG_GAIN");
-	_parameter_handles.vertical_accel_limit =		param_find("FW_T_VERT_ACC");
-	_parameter_handles.height_comp_filter_omega =		param_find("FW_T_HGT_OMEGA");
-	_parameter_handles.speed_comp_filter_omega =		param_find("FW_T_SPD_OMEGA");
-	_parameter_handles.roll_throttle_compensation = 	param_find("FW_T_RLL2THR");
-	_parameter_handles.speed_weight = 			param_find("FW_T_SPDWEIGHT");
-	_parameter_handles.pitch_damping = 			param_find("FW_T_PTCH_DAMP");
-	_parameter_handles.heightrate_p =			param_find("FW_T_HRATE_P");
-	_parameter_handles.speedrate_p =			param_find("FW_T_SRATE_P");
-
 	/* fetch initial parameter values */
 	parameters_update();
 }
@@ -535,19 +494,6 @@ FixedwingPositionControl::parameters_update()
 
 	param_get(_parameter_handles.throttle_land_max, &(_parameters.throttle_land_max));
 
-	param_get(_parameter_handles.time_const, &(_parameters.time_const));
-	param_get(_parameter_handles.min_sink_rate, &(_parameters.min_sink_rate));
-	param_get(_parameter_handles.max_sink_rate, &(_parameters.max_sink_rate));
-	param_get(_parameter_handles.throttle_damp, &(_parameters.throttle_damp));
-	param_get(_parameter_handles.integrator_gain, &(_parameters.integrator_gain));
-	param_get(_parameter_handles.vertical_accel_limit, &(_parameters.vertical_accel_limit));
-	param_get(_parameter_handles.height_comp_filter_omega, &(_parameters.height_comp_filter_omega));
-	param_get(_parameter_handles.speed_comp_filter_omega, &(_parameters.speed_comp_filter_omega));
-	param_get(_parameter_handles.roll_throttle_compensation, &(_parameters.roll_throttle_compensation));
-	param_get(_parameter_handles.speed_weight, &(_parameters.speed_weight));
-	param_get(_parameter_handles.pitch_damping, &(_parameters.pitch_damping));
-	param_get(_parameter_handles.max_climb_rate, &(_parameters.max_climb_rate));
-
 	param_get(_parameter_handles.heightrate_p, &(_parameters.heightrate_p));
 	param_get(_parameter_handles.speedrate_p, &(_parameters.speedrate_p));
 
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 52128e1b7..35b1f2ca9 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
@@ -155,175 +155,6 @@ PARAM_DEFINE_FLOAT(FW_THR_MIN, 0.0f);
 PARAM_DEFINE_FLOAT(FW_THR_LND_MAX, 1.0f);
 
 /**
- * Maximum climb rate
- *
- * This is the best climb rate that the aircraft can achieve with 
- * the throttle set to THR_MAX and the airspeed set to the 
- * default value. For electric aircraft make sure this number can be 
- * achieved towards the end of flight when the battery voltage has reduced. 
- * The setting of this parameter can be checked by commanding a positive 
- * altitude change of 100m in loiter, RTL or guided mode. If the throttle 
- * required to climb is close to THR_MAX and the aircraft is maintaining 
- * airspeed, then this parameter is set correctly. If the airspeed starts 
- * to reduce, then the parameter is set to high, and if the throttle 
- * demand required to climb and maintain speed is noticeably less than 
- * FW_THR_MAX, then either FW_T_CLMB_MAX should be increased or 
- * FW_THR_MAX reduced.
- *
- * @group L1 Control
- */
-PARAM_DEFINE_FLOAT(FW_T_CLMB_MAX, 5.0f);
-
-/**
- * Minimum descent rate
- *
- * This is the sink rate of the aircraft with the throttle 
- * set to THR_MIN and flown at the same airspeed as used 
- * to measure FW_T_CLMB_MAX.
- *
- * @group L1 Control
- */
-PARAM_DEFINE_FLOAT(FW_T_SINK_MIN, 2.0f);
-
-/**
- * Maximum descent rate
- *
- * This sets the maximum descent rate that the controller will use. 
- * If this value is too large, the aircraft can over-speed on descent. 
- * This should be set to a value that can be achieved without 
- * exceeding the lower pitch angle limit and without over-speeding 
- * the aircraft.
- *
- * @group L1 Control
- */
-PARAM_DEFINE_FLOAT(FW_T_SINK_MAX, 5.0f);
-
-/**
- * TECS time constant
- *
- * This is the time constant of the TECS control algorithm (in seconds). 
- * Smaller values make it faster to respond, larger values make it slower
- * to respond.
- *
- * @group L1 Control
- */
-PARAM_DEFINE_FLOAT(FW_T_TIME_CONST, 5.0f);
-
-/**
- * Throttle damping factor
- *
- * This is the damping gain for the throttle demand loop. 
- * Increase to add damping to correct for oscillations in speed and height.
- *
- * @group L1 Control
- */
-PARAM_DEFINE_FLOAT(FW_T_THR_DAMP, 0.5f);
-
-/**
- * Integrator gain
- *
- * This is the integrator gain on the control loop. 
- * Increasing this gain increases the speed at which speed 
- * and height offsets are trimmed out, but reduces damping and 
- * increases overshoot.
- *
- * @group L1 Control
- */
-PARAM_DEFINE_FLOAT(FW_T_INTEG_GAIN, 0.1f);
-
-/**
- * Maximum vertical acceleration
- *
- * This is the maximum vertical acceleration (in metres/second square)
- * either up or down that the controller will use to correct speed 
- * or height errors. The default value of 7 m/s/s (equivalent to +- 0.7 g) 
- * allows for reasonably aggressive pitch changes if required to recover 
- * from under-speed conditions.
- *
- * @group L1 Control
- */
-PARAM_DEFINE_FLOAT(FW_T_VERT_ACC, 7.0f);
-
-/**
- * Complementary filter "omega" parameter for height
- *
- * This is the cross-over frequency (in radians/second) of the complementary 
- * filter used to fuse vertical acceleration and barometric height to obtain 
- * an estimate of height rate and height. Increasing this frequency weights 
- * the solution more towards use of the barometer, whilst reducing it weights 
- * the solution more towards use of the accelerometer data.
- *
- * @group L1 Control
- */
-PARAM_DEFINE_FLOAT(FW_T_HGT_OMEGA, 3.0f);
-
-/**
- * Complementary filter "omega" parameter for speed
- *
- * This is the cross-over frequency (in radians/second) of the complementary 
- * filter used to fuse longitudinal acceleration and airspeed to obtain an 
- * improved airspeed estimate. Increasing this frequency weights the solution
- * more towards use of the arispeed sensor, whilst reducing it weights the 
- * solution more towards use of the accelerometer data.
- *
- * @group L1 Control
- */
-PARAM_DEFINE_FLOAT(FW_T_SPD_OMEGA, 2.0f);
-
-/**
- * Roll -> Throttle feedforward
- *
- * Increasing this gain turn increases the amount of throttle that will 
- * be used to compensate for the additional drag created by turning. 
- * Ideally this should be set to  approximately 10 x the extra sink rate 
- * in m/s created by a 45 degree bank turn. Increase this gain if 
- * the aircraft initially loses energy in turns and reduce if the 
- * aircraft initially gains energy in turns. Efficient high aspect-ratio 
- * aircraft (eg powered sailplanes) can use a lower value, whereas 
- * inefficient low aspect-ratio models (eg delta wings) can use a higher value.
- *
- * @group L1 Control
- */
-PARAM_DEFINE_FLOAT(FW_T_RLL2THR, 10.0f);
-
-/**
- * Speed <--> Altitude priority
- *
- * This parameter adjusts the amount of weighting that the pitch control 
- * applies to speed vs height errors. Setting it to 0.0 will cause the 
- * pitch control to control height and ignore speed errors. This will 
- * normally improve height accuracy but give larger airspeed errors. 
- * Setting it to 2.0 will cause the pitch control loop to control speed 
- * and ignore height errors. This will normally reduce airspeed errors, 
- * but give larger height errors. The default value of 1.0 allows the pitch 
- * control to simultaneously control height and speed. 
- * Note to Glider Pilots - set this parameter to 2.0 (The glider will 
- * adjust its pitch angle to maintain airspeed, ignoring changes in height).
- *
- * @group L1 Control
- */
-PARAM_DEFINE_FLOAT(FW_T_SPDWEIGHT, 1.0f);
-
-/**
- * Pitch damping factor
- *
- * This is the damping gain for the pitch demand loop. Increase to add 
- * damping to correct for oscillations in height. The default value of 0.0 
- * will work well provided the pitch to servo controller has been tuned 
- * properly.
- *
- * @group L1 Control
- */
-PARAM_DEFINE_FLOAT(FW_T_PTCH_DAMP, 0.0f);
-
-/**
- * Height rate P factor
- *
- * @group L1 Control
- */
-PARAM_DEFINE_FLOAT(FW_T_HRATE_P, 0.05f);
-
-/**
  * Speed rate P factor
  *
  * @group L1 Control