diff options
| -rw-r--r-- | src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp | 1 | ||||
| -rw-r--r-- | src/lib/ecl/attitude_fw/ecl_pitch_controller.h | 4 | ||||
| -rw-r--r-- | src/lib/ecl/attitude_fw/ecl_roll_controller.cpp | 1 | ||||
| -rw-r--r-- | src/lib/ecl/attitude_fw/ecl_roll_controller.h | 5 | ||||
| -rw-r--r-- | src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp | 1 | ||||
| -rw-r--r-- | src/lib/ecl/attitude_fw/ecl_yaw_controller.h | 5 | ||||
| -rw-r--r-- | src/modules/fw_att_control/fw_att_control_main.cpp | 9 | ||||
| -rw-r--r-- | src/modules/fw_att_control/fw_att_control_params.c | 13 |
8 files changed, 0 insertions, 39 deletions
diff --git a/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp b/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp index d7dbbebd4..882fac02b 100644 --- a/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp +++ b/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp @@ -52,7 +52,6 @@ ECL_PitchController::ECL_PitchController() : _tc(0.1f), _k_p(0.0f), _k_i(0.0f), - _k_d(0.0f), _k_ff(0.0f), _integrator_max(0.0f), _max_rate_pos(0.0f), diff --git a/src/lib/ecl/attitude_fw/ecl_pitch_controller.h b/src/lib/ecl/attitude_fw/ecl_pitch_controller.h index 2ca0490fd..30a82a86a 100644 --- a/src/lib/ecl/attitude_fw/ecl_pitch_controller.h +++ b/src/lib/ecl/attitude_fw/ecl_pitch_controller.h @@ -77,9 +77,6 @@ public: void set_k_i(float k_i) { _k_i = k_i; } - void set_k_d(float k_d) { - _k_d = k_d; - } void set_k_ff(float k_ff) { _k_ff = k_ff; @@ -119,7 +116,6 @@ private: float _tc; float _k_p; float _k_i; - float _k_d; float _k_ff; float _integrator_max; float _max_rate_pos; diff --git a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp index bd6c9da71..9e7d35f68 100644 --- a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp +++ b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp @@ -52,7 +52,6 @@ ECL_RollController::ECL_RollController() : _tc(0.1f), _k_p(0.0f), _k_i(0.0f), - _k_d(0.0f), _k_ff(0.0f), _integrator_max(0.0f), _max_rate(0.0f), diff --git a/src/lib/ecl/attitude_fw/ecl_roll_controller.h b/src/lib/ecl/attitude_fw/ecl_roll_controller.h index efc7b8944..92c64b95f 100644 --- a/src/lib/ecl/attitude_fw/ecl_roll_controller.h +++ b/src/lib/ecl/attitude_fw/ecl_roll_controller.h @@ -80,10 +80,6 @@ public: _k_i = k_i; } - void set_k_d(float k_d) { - _k_d = k_d; - } - void set_k_ff(float k_ff) { _k_ff = k_ff; } @@ -113,7 +109,6 @@ private: float _tc; float _k_p; float _k_i; - float _k_d; float _k_ff; float _integrator_max; float _max_rate; diff --git a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp index 7c366aaf2..15e2b0f71 100644 --- a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp +++ b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp @@ -50,7 +50,6 @@ ECL_YawController::ECL_YawController() : _last_run(0), _k_p(0.0f), _k_i(0.0f), - _k_d(0.0f), _k_ff(0.0f), _integrator_max(0.0f), _max_rate(0.0f), diff --git a/src/lib/ecl/attitude_fw/ecl_yaw_controller.h b/src/lib/ecl/attitude_fw/ecl_yaw_controller.h index f15645fcf..f61698c36 100644 --- a/src/lib/ecl/attitude_fw/ecl_yaw_controller.h +++ b/src/lib/ecl/attitude_fw/ecl_yaw_controller.h @@ -75,10 +75,6 @@ public: _k_i = k_i; } - void set_k_d(float k_d) { - _k_d = k_d; - } - void set_k_ff(float k_ff) { _k_ff = k_ff; } @@ -116,7 +112,6 @@ private: uint64_t _last_run; float _k_p; float _k_i; - float _k_d; float _k_ff; float _integrator_max; float _max_rate; diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp index 26777f737..9d8b420ac 100644 --- a/src/modules/fw_att_control/fw_att_control_main.cpp +++ b/src/modules/fw_att_control/fw_att_control_main.cpp @@ -310,7 +310,6 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() : _parameter_handles.tconst = param_find("FW_ATT_TC"); _parameter_handles.p_p = param_find("FW_PR_P"); - _parameter_handles.p_d = param_find("FW_PR_D"); _parameter_handles.p_i = param_find("FW_PR_I"); _parameter_handles.p_ff = param_find("FW_PR_FF"); _parameter_handles.p_rmax_pos = param_find("FW_P_RMAX_POS"); @@ -319,7 +318,6 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() : _parameter_handles.p_roll_feedforward = param_find("FW_P_ROLLFF"); _parameter_handles.r_p = param_find("FW_RR_P"); - _parameter_handles.r_d = param_find("FW_RR_D"); _parameter_handles.r_i = param_find("FW_RR_I"); _parameter_handles.r_ff = param_find("FW_RR_FF"); _parameter_handles.r_integrator_max = param_find("FW_RR_IMAX"); @@ -327,7 +325,6 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() : _parameter_handles.y_p = param_find("FW_YR_P"); _parameter_handles.y_i = param_find("FW_YR_I"); - _parameter_handles.y_d = param_find("FW_YR_D"); _parameter_handles.y_ff = param_find("FW_YR_FF"); _parameter_handles.y_roll_feedforward = param_find("FW_Y_ROLLFF"); _parameter_handles.y_integrator_max = param_find("FW_YR_IMAX"); @@ -374,7 +371,6 @@ FixedwingAttitudeControl::parameters_update() param_get(_parameter_handles.tconst, &(_parameters.tconst)); param_get(_parameter_handles.p_p, &(_parameters.p_p)); - param_get(_parameter_handles.p_d, &(_parameters.p_d)); param_get(_parameter_handles.p_i, &(_parameters.p_i)); param_get(_parameter_handles.p_ff, &(_parameters.p_ff)); param_get(_parameter_handles.p_rmax_pos, &(_parameters.p_rmax_pos)); @@ -383,7 +379,6 @@ FixedwingAttitudeControl::parameters_update() param_get(_parameter_handles.p_roll_feedforward, &(_parameters.p_roll_feedforward)); param_get(_parameter_handles.r_p, &(_parameters.r_p)); - param_get(_parameter_handles.r_d, &(_parameters.r_d)); param_get(_parameter_handles.r_i, &(_parameters.r_i)); param_get(_parameter_handles.r_ff, &(_parameters.r_ff)); @@ -392,7 +387,6 @@ FixedwingAttitudeControl::parameters_update() param_get(_parameter_handles.y_p, &(_parameters.y_p)); param_get(_parameter_handles.y_i, &(_parameters.y_i)); - param_get(_parameter_handles.y_d, &(_parameters.y_d)); param_get(_parameter_handles.y_ff, &(_parameters.y_ff)); param_get(_parameter_handles.y_roll_feedforward, &(_parameters.y_roll_feedforward)); param_get(_parameter_handles.y_integrator_max, &(_parameters.y_integrator_max)); @@ -407,7 +401,6 @@ FixedwingAttitudeControl::parameters_update() _pitch_ctrl.set_time_constant(_parameters.tconst); _pitch_ctrl.set_k_p(_parameters.p_p); _pitch_ctrl.set_k_i(_parameters.p_i); - _pitch_ctrl.set_k_d(_parameters.p_d); _pitch_ctrl.set_k_ff(_parameters.p_ff); _pitch_ctrl.set_integrator_max(_parameters.p_integrator_max); _pitch_ctrl.set_max_rate_pos(math::radians(_parameters.p_rmax_pos)); @@ -418,7 +411,6 @@ FixedwingAttitudeControl::parameters_update() _roll_ctrl.set_time_constant(_parameters.tconst); _roll_ctrl.set_k_p(_parameters.r_p); _roll_ctrl.set_k_i(_parameters.r_i); - _roll_ctrl.set_k_d(_parameters.r_d); _roll_ctrl.set_k_ff(_parameters.r_ff); _roll_ctrl.set_integrator_max(_parameters.r_integrator_max); _roll_ctrl.set_max_rate(math::radians(_parameters.r_rmax)); @@ -426,7 +418,6 @@ FixedwingAttitudeControl::parameters_update() /* yaw control parameters */ _yaw_ctrl.set_k_p(_parameters.y_p); _yaw_ctrl.set_k_i(_parameters.y_i); - _yaw_ctrl.set_k_d(_parameters.y_d); _yaw_ctrl.set_k_ff(_parameters.y_ff); _yaw_ctrl.set_k_roll_ff(_parameters.y_roll_feedforward); _yaw_ctrl.set_integrator_max(_parameters.y_integrator_max); diff --git a/src/modules/fw_att_control/fw_att_control_params.c b/src/modules/fw_att_control/fw_att_control_params.c index e129568bb..16227b62f 100644 --- a/src/modules/fw_att_control/fw_att_control_params.c +++ b/src/modules/fw_att_control/fw_att_control_params.c @@ -60,11 +60,6 @@ PARAM_DEFINE_FLOAT(FW_ATT_TC, 0.5f); // @Range 10 to 200, 1 increments PARAM_DEFINE_FLOAT(FW_PR_P, 0.05f); -// @DisplayName Damping gain. -// @Description This gain damps the airframe pitch rate. In particular relevant for flying wings. -// @Range 0.0 to 10.0, 0.1 increments -PARAM_DEFINE_FLOAT(FW_PR_D, 0.0f); //xxx: remove - // @DisplayName Pitch rate integrator gain. // @Description This gain defines how much control response will result out of a steady state error. It trims any constant error. // @Range 0 to 50.0 @@ -100,13 +95,6 @@ PARAM_DEFINE_FLOAT(FW_P_ROLLFF, 0.0f); // @User User PARAM_DEFINE_FLOAT(FW_RR_P, 0.05f); -// @DisplayName Damping Gain -// @Description Controls the roll rate to roll actuator output. It helps to reduce motions in turbulence. -// @Range 0.0 10.0 -// @Increment 1.0 -// @User User -PARAM_DEFINE_FLOAT(FW_RR_D, 0.0f); //xxx: remove - // @DisplayName Roll rate integrator Gain // @Description This gain defines how much control response will result out of a steady state error. It trims any constant error. // @Range 0.0 100.0 @@ -142,7 +130,6 @@ PARAM_DEFINE_FLOAT(FW_YR_I, 0.0f); // @Increment 0.1 PARAM_DEFINE_FLOAT(FW_YR_IMAX, 0.2f); -PARAM_DEFINE_FLOAT(FW_YR_D, 0); //xxx: remove PARAM_DEFINE_FLOAT(FW_Y_ROLLFF, 0); //xxx: remove // @DisplayName Maximum Yaw Rate |