From 6480c6a2cee7a237f9310f6986567e91c54c1247 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Wed, 19 Feb 2014 21:48:54 +0100 Subject: fw autoland: remove confusing slopelength parameter --- src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 6 +----- src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c | 7 ------- 2 files changed, 1 insertion(+), 12 deletions(-) (limited to 'src') 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 45fdaa355..020d1c119 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 @@ -233,7 +233,6 @@ private: float speedrate_p; float land_slope_angle; - float land_slope_length; float land_H1_virt; float land_flare_alt_relative; float land_thrust_lim_alt_relative; @@ -278,7 +277,6 @@ private: param_t speedrate_p; param_t land_slope_angle; - param_t land_slope_length; param_t land_H1_virt; param_t land_flare_alt_relative; param_t land_thrust_lim_alt_relative; @@ -431,7 +429,6 @@ FixedwingPositionControl::FixedwingPositionControl() : _parameter_handles.throttle_land_max = param_find("FW_THR_LND_MAX"); _parameter_handles.land_slope_angle = param_find("FW_LND_ANG"); - _parameter_handles.land_slope_length = param_find("FW_LND_SLLR"); _parameter_handles.land_H1_virt = param_find("FW_LND_HVIRT"); _parameter_handles.land_flare_alt_relative = param_find("FW_LND_FLALT"); _parameter_handles.land_thrust_lim_alt_relative = param_find("FW_LND_TLALT"); @@ -520,7 +517,6 @@ FixedwingPositionControl::parameters_update() param_get(_parameter_handles.speedrate_p, &(_parameters.speedrate_p)); param_get(_parameter_handles.land_slope_angle, &(_parameters.land_slope_angle)); - param_get(_parameter_handles.land_slope_length, &(_parameters.land_slope_length)); param_get(_parameter_handles.land_H1_virt, &(_parameters.land_H1_virt)); param_get(_parameter_handles.land_flare_alt_relative, &(_parameters.land_flare_alt_relative)); param_get(_parameter_handles.land_thrust_lim_alt_relative, &(_parameters.land_thrust_lim_alt_relative)); @@ -889,7 +885,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi float airspeed_land = 1.3f * _parameters.airspeed_min; float airspeed_approach = 1.3f * _parameters.airspeed_min; - float L_wp_distance = get_distance_to_next_waypoint(prev_wp(0), prev_wp(1), curr_wp(0), curr_wp(1)) * _parameters.land_slope_length; + float L_wp_distance = get_distance_to_next_waypoint(prev_wp(0), prev_wp(1), curr_wp(0), curr_wp(1)) * 0.9f; float L_altitude = landingslope.getLandingSlopeAbsoluteAltitude(L_wp_distance, _pos_sp_triplet.current.alt); float bearing_airplane_currwp = get_bearing_to_next_waypoint(current_position(0), current_position(1), curr_wp(0), curr_wp(1)); float landing_slope_alt_desired = landingslope.getLandingSlopeAbsoluteAltitudeSave(wp_distance, bearing_lastwp_currwp, bearing_airplane_currwp, _pos_sp_triplet.current.alt); 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 62a340e90..0909135e1 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 @@ -348,13 +348,6 @@ PARAM_DEFINE_FLOAT(FW_T_SRATE_P, 0.05f); */ PARAM_DEFINE_FLOAT(FW_LND_ANG, 5.0f); -/** - * Landing slope length - * - * @group L1 Control - */ -PARAM_DEFINE_FLOAT(FW_LND_SLLR, 0.9f); - /** * * -- cgit v1.2.3