diff options
Diffstat (limited to 'src/lib/ecl')
-rw-r--r-- | src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp | 2 | ||||
-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 | 2 | ||||
-rw-r--r-- | src/lib/ecl/attitude_fw/ecl_yaw_controller.h | 9 |
6 files changed, 1 insertions, 22 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..b66d1dba5 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), @@ -91,6 +90,7 @@ float ECL_PitchController::control_attitude(float pitch_setpoint, float roll, fl } /* calculate the offset in the rate resulting from rolling */ + //xxx needs explanation and conversion to body angular rates or should be removed float turn_offset = fabsf((CONSTANTS_ONE_G / airspeed) * tanf(roll) * sinf(roll)) * _roll_ff; if (inverted) 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..5e2200727 100644 --- a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp +++ b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp @@ -50,11 +50,9 @@ 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), - _roll_ff(0.0f), _last_output(0.0f), _integrator(0.0f), _rate_error(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..03f3202d0 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; } @@ -91,10 +87,6 @@ public: _max_rate = max_rate; } - void set_k_roll_ff(float roll_ff) { - _roll_ff = roll_ff; - } - void set_coordinated_min_speed(float coordinated_min_speed) { _coordinated_min_speed = coordinated_min_speed; } @@ -116,7 +108,6 @@ private: uint64_t _last_run; float _k_p; float _k_i; - float _k_d; float _k_ff; float _integrator_max; float _max_rate; |