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AP_Winch: remove redundant member

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Also use get_rate_max method instead of config.rate_max member
This commit is contained in:
Randy Mackay 2017-10-26 21:07:56 +09:00
parent 842eed5426
commit 2614d2112a
3 changed files with 2 additions and 4 deletions
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2
libraries/AP_Winch/AP_Winch.cpp
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@ -113,7 +113,7 @@ void AP_Winch::release_length(float length, float rate)
if (is_zero(rate)) {
config.rate_desired = config.rate_max;
} else {
config.rate_desired = constrain_float(fabsf(rate), -config.rate_max, config.rate_max);
config.rate_desired = constrain_float(fabsf(rate), -get_rate_max(), get_rate_max());
}
}

3
libraries/AP_Winch/AP_Winch_Servo.cpp
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@ -40,9 +40,8 @@ void AP_Winch_Servo::update()
float distance = _wheel_encoder->get_distance(0);
float rate = 0.0f;
if (is_positive(dt)) {
rate = (distance - _last_distance) / dt;
rate = (distance - config.length_curr) / dt;
}
_last_distance = distance;
// update distance from wheel encoder
config.length_curr = distance;

1
libraries/AP_Winch/AP_Winch_Servo.h
View File

@ -34,7 +34,6 @@ private:
// external reference
const AP_WheelEncoder* _wheel_encoder;
float _last_distance; // wheel encoder total distance from previous iteration (used to calculate rate)
uint32_t last_update_ms; // last time update was called
bool limit_high; // output hit limit on last iteration
bool limit_low; // output hit lower limit on last iteration