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AC_AttitudeControl: Remove unused takeoff jump #define

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Robert Lefebvre 2015-07-01 09:47:28 -04:00 committed by Randy Mackay
parent f3770432f9
commit 14882bc6a8
2 changed files with 1 additions and 2 deletions
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2
libraries/AC_AttitudeControl/AC_PosControl.cpp
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@ -254,7 +254,7 @@ void AC_PosControl::init_takeoff()
{
const Vector3f& curr_pos = _inav.get_position();
_pos_target.z = curr_pos.z + POSCONTROL_TAKEOFF_JUMP_CM;
_pos_target.z = curr_pos.z;
// freeze feedforward to avoid jump
freeze_ff_z();

1
libraries/AC_AttitudeControl/AC_PosControl.h
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@ -22,7 +22,6 @@
#define POSCONTROL_STOPPING_DIST_Z_MAX 200.0f // max stopping distance vertically
// should be 1.5 times larger than POSCONTROL_ACCELERATION.
// max acceleration = max lean angle * 980 * pi / 180. i.e. 23deg * 980 * 3.141 / 180 = 393 cm/s/s
#define POSCONTROL_TAKEOFF_JUMP_CM 0.0f // during take-off altitude target is set to current altitude + this value
#define POSCONTROL_SPEED 500.0f // default horizontal speed in cm/s
#define POSCONTROL_SPEED_DOWN -150.0f // default descent rate in cm/s