From dec1fdbde0c7bb6f3eacae97ab9656f77294cbfc Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Thu, 20 Jun 2013 11:52:05 +0400 Subject: Cleanup: remove useless angular rates from attitude rate controller --- src/modules/multirotor_att_control/multirotor_att_control_main.c | 8 +------- src/modules/multirotor_att_control/multirotor_rate_control.c | 6 +++--- src/modules/multirotor_att_control/multirotor_rate_control.h | 2 +- 3 files changed, 5 insertions(+), 11 deletions(-) (limited to 'src/modules/multirotor_att_control') diff --git a/src/modules/multirotor_att_control/multirotor_att_control_main.c b/src/modules/multirotor_att_control/multirotor_att_control_main.c index 38775ed1f..8ba3241ad 100644 --- a/src/modules/multirotor_att_control/multirotor_att_control_main.c +++ b/src/modules/multirotor_att_control/multirotor_att_control_main.c @@ -395,13 +395,7 @@ mc_thread_main(int argc, char *argv[]) rates[1] = att.pitchspeed; rates[2] = att.yawspeed; - rates_acc[0] = att.rollacc; - rates_acc[1] = att.pitchacc; - rates_acc[2] = att.yawacc; - - - - multirotor_control_rates(&rates_sp, rates, rates_acc, &actuators, &control_debug_pub, &control_debug); + multirotor_control_rates(&rates_sp, rates, &actuators, &control_debug_pub, &control_debug); orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators); orb_publish(ORB_ID(vehicle_control_debug), control_debug_pub, &control_debug); diff --git a/src/modules/multirotor_att_control/multirotor_rate_control.c b/src/modules/multirotor_att_control/multirotor_rate_control.c index 8f26a2014..641d833f0 100644 --- a/src/modules/multirotor_att_control/multirotor_rate_control.c +++ b/src/modules/multirotor_att_control/multirotor_rate_control.c @@ -151,7 +151,7 @@ static int parameters_update(const struct mc_rate_control_param_handles *h, stru } void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, - const float rates[], const float rates_acc[], struct actuator_controls_s *actuators, + const float rates[], struct actuator_controls_s *actuators, const orb_advert_t *control_debug_pub, struct vehicle_control_debug_s *control_debug) { static uint64_t last_run = 0; @@ -208,11 +208,11 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, /* control pitch (forward) output */ float pitch_control = pid_calculate(&pitch_rate_controller, rate_sp->pitch , - rates[1], rates_acc[1], deltaT, &control_debug->pitch_rate_p, &control_debug->pitch_rate_i, &control_debug->pitch_rate_d); + rates[1], 0.0f, deltaT, &control_debug->pitch_rate_p, &control_debug->pitch_rate_i, &control_debug->pitch_rate_d); /* control roll (left/right) output */ float roll_control = pid_calculate(&roll_rate_controller, rate_sp->roll , - rates[0], rates_acc[0], deltaT, &control_debug->roll_rate_p, &control_debug->roll_rate_i, &control_debug->roll_rate_d); + rates[0], 0.0f, deltaT, &control_debug->roll_rate_p, &control_debug->roll_rate_i, &control_debug->roll_rate_d); /* increase resilience to faulty control inputs */ if (isfinite(pitch_control)) { diff --git a/src/modules/multirotor_att_control/multirotor_rate_control.h b/src/modules/multirotor_att_control/multirotor_rate_control.h index fc741c378..465549540 100644 --- a/src/modules/multirotor_att_control/multirotor_rate_control.h +++ b/src/modules/multirotor_att_control/multirotor_rate_control.h @@ -52,7 +52,7 @@ #include void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp, - const float rates[], const float rates_acc[], struct actuator_controls_s *actuators, + const float rates[], struct actuator_controls_s *actuators, const orb_advert_t *control_debug_pub, struct vehicle_control_debug_s *control_debug); #endif /* MULTIROTOR_RATE_CONTROL_H_ */ -- cgit v1.2.3