From 5a97a232e73461e0538114c3bdbebfd3925c1449 Mon Sep 17 00:00:00 2001 From: Leonard Hall Date: Tue, 21 Dec 2021 15:55:44 +1030 Subject: [PATCH] AC_AutoTune: Move rate limit to AC_AttitudeControl --- libraries/AC_AutoTune/AC_AutoTune.cpp | 12 ------------ 1 file changed, 12 deletions(-) diff --git a/libraries/AC_AutoTune/AC_AutoTune.cpp b/libraries/AC_AutoTune/AC_AutoTune.cpp index ccdc47800a..2aa9a48ca9 100644 --- a/libraries/AC_AutoTune/AC_AutoTune.cpp +++ b/libraries/AC_AutoTune/AC_AutoTune.cpp @@ -529,10 +529,6 @@ void AC_AutoTune::control_attitude() switch (axis) { case ROLL: { target_max_rate = MAX(AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS, step_scaler*AUTOTUNE_TARGET_RATE_RLLPIT_CDS); - const float roll_rate_max_cds = degrees(attitude_control->get_ang_vel_roll_max_rads()) * 100; - if (is_positive(roll_rate_max_cds)) { - target_max_rate = MIN(target_max_rate, roll_rate_max_cds); - } target_rate = constrain_float(ToDeg(attitude_control->max_rate_step_bf_roll())*100.0f, AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS, target_max_rate); target_angle = constrain_float(ToDeg(attitude_control->max_angle_step_bf_roll())*100.0f, AUTOTUNE_TARGET_MIN_ANGLE_RLLPIT_CD, AUTOTUNE_TARGET_ANGLE_RLLPIT_CD); abort_angle = AUTOTUNE_TARGET_ANGLE_RLLPIT_CD; @@ -543,10 +539,6 @@ void AC_AutoTune::control_attitude() } case PITCH: { target_max_rate = MAX(AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS, step_scaler*AUTOTUNE_TARGET_RATE_RLLPIT_CDS); - const float pitch_rate_max_cds = degrees(attitude_control->get_ang_vel_pitch_max_rads()) * 100; - if (is_positive(pitch_rate_max_cds)) { - target_max_rate = MIN(target_max_rate, pitch_rate_max_cds); - } target_rate = constrain_float(ToDeg(attitude_control->max_rate_step_bf_pitch())*100.0f, AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS, target_max_rate); target_angle = constrain_float(ToDeg(attitude_control->max_angle_step_bf_pitch())*100.0f, AUTOTUNE_TARGET_MIN_ANGLE_RLLPIT_CD, AUTOTUNE_TARGET_ANGLE_RLLPIT_CD); abort_angle = AUTOTUNE_TARGET_ANGLE_RLLPIT_CD; @@ -557,10 +549,6 @@ void AC_AutoTune::control_attitude() } case YAW: { target_max_rate = MAX(AUTOTUNE_TARGET_MIN_RATE_RLLPIT_CDS, step_scaler*AUTOTUNE_TARGET_RATE_YAW_CDS); - const float yaw_rate_max_cds = degrees(attitude_control->get_ang_vel_yaw_max_rads()) * 100; - if (is_positive(yaw_rate_max_cds)) { - target_max_rate = MIN(target_max_rate, yaw_rate_max_cds); - } target_rate = constrain_float(ToDeg(attitude_control->max_rate_step_bf_yaw()*0.75f)*100.0f, AUTOTUNE_TARGET_MIN_RATE_YAW_CDS, target_max_rate); target_angle = constrain_float(ToDeg(attitude_control->max_angle_step_bf_yaw()*0.75f)*100.0f, AUTOTUNE_TARGET_MIN_ANGLE_YAW_CD, AUTOTUNE_TARGET_ANGLE_YAW_CD); abort_angle = AUTOTUNE_TARGET_ANGLE_YAW_CD;