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Copter: remove unused parameters

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This commit is contained in:
Randy Mackay 2014-02-03 16:39:43 +09:00 committed by Andrew Tridgell
parent 81c7df7678
commit 3e399fd830
2 changed files with 7 additions and 62 deletions
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18
ArduCopter/Parameters.h
View File

@ -86,7 +86,7 @@ public:
k_param_wp_yaw_behavior,
k_param_acro_trainer,
k_param_pilot_velocity_z_max,
k_param_circle_rate,
k_param_circle_rate, // deprecated - remove
k_param_sonar_gain,
k_param_ch8_option,
k_param_arming_check,
@ -95,7 +95,7 @@ public:
k_param_gps_hdop_good,
k_param_battery,
k_param_fs_batt_mah,
k_param_angle_rate_max,
k_param_angle_rate_max, // remove
k_param_rssi_range,
k_param_rc_feel_rp, // 40
@ -122,9 +122,9 @@ public:
k_param_heli_servo_2,
k_param_heli_servo_3,
k_param_heli_servo_4,
k_param_heli_pitch_ff,
k_param_heli_roll_ff,
k_param_heli_yaw_ff,
k_param_heli_pitch_ff, // remove
k_param_heli_roll_ff, // remove
k_param_heli_yaw_ff, // remove
k_param_heli_stab_col_min,
k_param_heli_stab_col_max, // 88
@ -250,7 +250,7 @@ public:
k_param_command_index,
k_param_command_nav_index, // remove
k_param_waypoint_radius, // remove
k_param_circle_radius,
k_param_circle_radius, // remove
k_param_waypoint_speed_max, // remove
k_param_land_speed,
k_param_auto_velocity_z_min, // remove
@ -323,15 +323,12 @@ public:
AP_Int8 rssi_pin;
AP_Float rssi_range; // allows to set max voltage for rssi pin such as 5.0, 3.3 etc.
AP_Int8 wp_yaw_behavior; // controls how the autopilot controls yaw during missions
AP_Int32 angle_rate_max; // maximum rotation rate in roll/pitch axis requested by angle controller used in stabilize, loiter, rtl, auto flight modes
AP_Int8 rc_feel_rp; // controls vehicle response to user input with 0 being extremely soft and 100 begin extremely crisp
// Waypoints
//
AP_Int8 command_total;
AP_Int8 command_index;
AP_Int16 circle_radius;
AP_Float circle_rate; // Circle mode's turn rate in deg/s. positive to rotate clockwise, negative for counter clockwise
AP_Int32 rtl_loiter_time;
AP_Int16 land_speed;
AP_Int16 pilot_velocity_z_max; // maximum vertical velocity the pilot may request
@ -371,9 +368,6 @@ public:
#if FRAME_CONFIG == HELI_FRAME
// Heli
RC_Channel heli_servo_1, heli_servo_2, heli_servo_3, heli_servo_4; // servos for swash plate and tail
AP_Float heli_pitch_ff; // pitch rate feed-forward
AP_Float heli_roll_ff; // roll rate feed-forward
AP_Float heli_yaw_ff; // yaw rate feed-forward
AP_Int16 heli_stab_col_min; // min collective while pilot directly controls collective in stabilize mode
AP_Int16 heli_stab_col_max; // min collective while pilot directly controls collective in stabilize mode
#endif

51
ArduCopter/Parameters.pde
View File

@ -216,24 +216,6 @@ const AP_Param::Info var_info[] PROGMEM = {
// @User: Advanced
GSCALAR(command_index, "WP_INDEX", 0),
// @Param: CIRCLE_RADIUS
// @DisplayName: Circle radius
// @Description: Defines the radius of the circle the vehicle will fly when in Circle flight mode
// @Units: Meters
// @Range: 1 127
// @Increment: 1
// @User: Standard
GSCALAR(circle_radius, "CIRCLE_RADIUS", CIRCLE_RADIUS),
// @Param: CIRCLE_RATE
// @DisplayName: Circle rate
// @Description: Circle mode's turn rate in degrees / second. Positive to turn clockwise, negative for counter clockwise
// @Units: deg/s
// @Range: -90 90
// @Increment: 1
// @User: Standard
GSCALAR(circle_rate, "CIRCLE_RATE", CIRCLE_RATE),
// @Param: RTL_LOIT_TIME
// @DisplayName: RTL loiter time
// @Description: Time (in milliseconds) to loiter above home before begining final descent
@ -430,13 +412,6 @@ const AP_Param::Info var_info[] PROGMEM = {
// @User: Advanced
ASCALAR(angle_max, "ANGLE_MAX", DEFAULT_ANGLE_MAX),
// @Param: ANGLE_RATE_MAX
// @DisplayName: Angle Rate max
// @Description: maximum rotation rate in roll/pitch axis requested by angle controller used in stabilize, loiter, rtl, auto flight modes
// @Range 90000 250000
// @User: Advanced
GSCALAR(angle_rate_max, "ANGLE_RATE_MAX", ANGLE_RATE_MAX),
// @Param: RC_FEEL_RP
// @DisplayName: RC Feel Roll/Pitch
// @Description: RC feel for roll/pitch which controls vehicle response to user input with 0 being extremely soft and 100 begin crisp
@ -458,30 +433,6 @@ const AP_Param::Info var_info[] PROGMEM = {
// @Path: ../libraries/RC_Channel/RC_Channel.cpp
GGROUP(heli_servo_4, "HS4_", RC_Channel),
// @Param: RATE_PIT_FF
// @DisplayName: Rate Pitch Feed Forward
// @Description: Rate Pitch Feed Forward (for TradHeli Only)
// @Range: 0 10
// @Increment: 0.01
// @User: Standard
GSCALAR(heli_pitch_ff, "RATE_PIT_FF", HELI_PITCH_FF),
// @Param: RATE_RLL_FF
// @DisplayName: Rate Roll Feed Forward
// @Description: Rate Roll Feed Forward (for TradHeli Only)
// @Range: 0 10
// @Increment: 0.01
// @User: Standard
GSCALAR(heli_roll_ff, "RATE_RLL_FF", HELI_ROLL_FF),
// @Param: RATE_YAW_FF
// @DisplayName: Rate Yaw Feed Forward
// @Description: Rate Yaw Feed Forward (for TradHeli Only)
// @Range: 0 10
// @Increment: 0.01
// @User: Standard
GSCALAR(heli_yaw_ff, "RATE_YAW_FF", HELI_YAW_FF),
// @Param: H_STAB_COL_MIN
// @DisplayName: Heli Stabilize Throttle Collective Minimum
// @Description: Helicopter's minimum collective position while pilot directly controls collective in stabilize mode
@ -1014,7 +965,7 @@ const AP_Param::Info var_info[] PROGMEM = {
#if FRAME_CONFIG == HELI_FRAME
// @Group: ATCON_
// @Path: ../libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
GOBJECT(attitude_control, "ATTCON_", AC_AttitudeControl_Heli),
GOBJECT(attitude_control, "ATC_", AC_AttitudeControl_Heli),
#else
// @Group: ATCON_
// @Path: ../libraries/AC_AttitudeControl/AC_AttitudeControl.cpp