diff options
Diffstat (limited to 'src/modules/fw_att_control/fw_att_control_main.cpp')
| -rw-r--r-- | src/modules/fw_att_control/fw_att_control_main.cpp | 9 |
1 files changed, 0 insertions, 9 deletions
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); |