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Sub: Remove rangefinder support of control loops 

The rangefinder handling doesn't handle sonar glitches like
locking on to reflections very well. We will remove the
rangefinder as an input to the controllers until we can do a
more robust implementation.
This commit is contained in:
Willian Galvani 2019-05-30 12:33:22 -03:00 committed by Jacob Walser
parent 3193ecc9af
commit 54bfd1f751
3 changed files with 0 additions and 15 deletions
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4
ArduSub/control_althold.cpp
View File

@ -94,10 +94,6 @@ void Sub::althold_run()
if (ap.at_bottom) {
pos_control.relax_alt_hold_controllers(); // clear velocity and position targets
pos_control.set_alt_target(inertial_nav.get_altitude() + 10.0f); // set target to 10 cm above bottom
} else if (rangefinder_alt_ok()) {
// if rangefinder is ok, use surface tracking
float target_climb_rate = get_surface_tracking_climb_rate(0, pos_control.get_alt_target(), G_Dt);
pos_control.set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, false);
}
// Detects a zero derivative

5
ArduSub/control_circle.cpp
View File

@ -83,11 +83,6 @@ void Sub::circle_run()
attitude_control.input_euler_angle_roll_pitch_yaw(channel_roll->get_control_in(), channel_pitch->get_control_in(), circle_nav.get_yaw(), true, get_smoothing_gain());
}
// adjust climb rate using rangefinder
if (rangefinder_alt_ok()) {
// if rangefinder is ok, use surface tracking
target_climb_rate = get_surface_tracking_climb_rate(target_climb_rate, pos_control.get_alt_target(), G_Dt);
}
// update altitude target and call position controller
pos_control.set_alt_target_from_climb_rate(target_climb_rate, G_Dt, false);
pos_control.update_z_controller();

6
ArduSub/control_poshold.cpp
View File

@ -112,12 +112,6 @@ void Sub::poshold_run()
float target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->get_control_in());
target_climb_rate = constrain_float(target_climb_rate, -g.pilot_velocity_z_max, g.pilot_velocity_z_max);
// adjust climb rate using rangefinder
if (rangefinder_alt_ok()) {
// if rangefinder is ok, use surface tracking
target_climb_rate = get_surface_tracking_climb_rate(target_climb_rate, pos_control.get_alt_target(), G_Dt);
}
// call z axis position controller
if (ap.at_bottom) {
pos_control.relax_alt_hold_controllers(motors.get_throttle_hover()); // clear velocity and position targets, and integrator