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Copter: remove tilt compensation parameter

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Note: this idea of feed forward tilt compensation is being incorporated
into the inertial nav based loiter and wp controllers but does not
require a separate tunable parameter
This commit is contained in:
Randy Mackay 2013-03-17 16:53:32 +09:00
parent 61e29173e3
commit 1b6fcad90a
3 changed files with 1 additions and 15 deletions
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3
ArduCopter/Parameters.h
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@ -148,7 +148,7 @@ public:
k_param_crosstrack_gain, // deprecated - remove with next eeprom number change k_param_crosstrack_gain, // deprecated - remove with next eeprom number change
k_param_rtl_loiter_time, k_param_rtl_loiter_time,
k_param_rtl_alt_final, k_param_rtl_alt_final,
k_param_tilt_comp, //164 k_param_tilt_comp, //164 deprecated - remove with next eeprom number change
// //
@ -273,7 +273,6 @@ public:
AP_Float low_voltage; AP_Float low_voltage;
AP_Int8 super_simple; AP_Int8 super_simple;
AP_Int16 rtl_alt_final; AP_Int16 rtl_alt_final;
AP_Int8 tilt_comp;
AP_Int8 axis_enabled; AP_Int8 axis_enabled;
AP_Int8 copter_leds_mode; // Operating mode of LED AP_Int8 copter_leds_mode; // Operating mode of LED
// lighting system // lighting system

8
ArduCopter/Parameters.pde
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@ -154,14 +154,6 @@ const AP_Param::Info var_info[] PROGMEM = {
// @User: Standard // @User: Standard
GSCALAR(rtl_alt_final, "RTL_ALT_FINAL", RTL_ALT_FINAL), GSCALAR(rtl_alt_final, "RTL_ALT_FINAL", RTL_ALT_FINAL),
// @Param: TILT
// @DisplayName: Auto Tilt Compensation
// @Description: This is a feed-forward compensation which helps the aircraft achieve target waypoint speed.
// @Range: 0 100
// @Increment: 1
// @User: Advanced
GSCALAR(tilt_comp, "TILT", TILT_COMPENSATION),
// @Param: BATT_VOLT_PIN // @Param: BATT_VOLT_PIN
// @DisplayName: Battery Voltage sensing pin // @DisplayName: Battery Voltage sensing pin
// @Description: Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13. // @Description: Setting this to 0 ~ 13 will enable battery current sensing on pins A0 ~ A13.

5
ArduCopter/config.h
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@ -113,7 +113,6 @@
#if FRAME_CONFIG == HELI_FRAME #if FRAME_CONFIG == HELI_FRAME
# define RC_FAST_SPEED 125 # define RC_FAST_SPEED 125
# define RTL_YAW YAW_LOOK_AT_HOME # define RTL_YAW YAW_LOOK_AT_HOME
# define TILT_COMPENSATION 5
# define RATE_INTEGRATOR_LEAK_RATE 0.02f # define RATE_INTEGRATOR_LEAK_RATE 0.02f
# define RATE_ROLL_D 0 # define RATE_ROLL_D 0
# define RATE_PITCH_D 0 # define RATE_PITCH_D 0
@ -981,10 +980,6 @@
# define WAYPOINT_SPEED_MIN 150 // 1m/s # define WAYPOINT_SPEED_MIN 150 // 1m/s
#endif #endif
#ifndef TILT_COMPENSATION
# define TILT_COMPENSATION 54
#endif
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////