Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-09 09:28:31 -04:00
Code Issues Packages Projects Releases Wiki Activity

Copter: remove unused crosstrack variables and parameters

Browse Source 
Cross track is still calculated internally to the wpnav controller so we
should move this to a library and still report it to the ground station
This commit is contained in:
Randy Mackay 2013-03-17 16:46:31 +09:00
parent a1295c042b
commit 61e29173e3
5 changed files with 3 additions and 26 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ArduCopter/ArduCopter.pde
View File

@ -692,8 +692,6 @@ static struct Location guided_WP;
// deg * 100, The original angle to the next_WP when the next_WP was set
// Also used to check when we pass a WP
static int32_t original_wp_bearing;
// The amount of angle correction applied to wp_bearing to bring the copter back on its optimum path
static int16_t crosstrack_error;
////////////////////////////////////////////////////////////////////////////////

2
ArduCopter/GCS_Mavlink.pde
View File

@ -275,7 +275,7 @@ static void NOINLINE send_nav_controller_output(mavlink_channel_t chan)
wp_distance / 1.0e2f,
altitude_error / 1.0e2f,
0,
crosstrack_error); // was 0
0);
}
static void NOINLINE send_ahrs(mavlink_channel_t chan)

6
ArduCopter/Parameters.h
View File

@ -75,7 +75,7 @@ public:
// Yaw Rate 1 = fast,
// 2 = med, 3 = slow
k_param_crosstrack_min_distance,
k_param_crosstrack_min_distance, // deprecated - remove with next eeprom number change
k_param_rssi_pin,
k_param_throttle_accel_enabled,
k_param_yaw_override_behaviour,
@ -145,7 +145,7 @@ public:
// 160: Navigation parameters
//
k_param_rtl_altitude = 160,
k_param_crosstrack_gain,
k_param_crosstrack_gain, // deprecated - remove with next eeprom number change
k_param_rtl_loiter_time,
k_param_rtl_alt_final,
k_param_tilt_comp, //164
@ -291,8 +291,6 @@ public:
AP_Int16 waypoint_radius;
AP_Int16 circle_radius;
AP_Int16 waypoint_speed_max;
AP_Float crosstrack_gain;
AP_Int16 crosstrack_min_distance;
AP_Int32 rtl_loiter_time;
AP_Int16 land_speed;
AP_Int16 auto_velocity_z_min; // minimum vertical velocity (i.e. maximum descent) the autopilot may request

16
ArduCopter/Parameters.pde
View File

@ -235,22 +235,6 @@ const AP_Param::Info var_info[] PROGMEM = {
// @User: Standard
GSCALAR(waypoint_speed_max, "WP_SPEED_MAX", WAYPOINT_SPEED_MAX),
// @Param: XTRK_GAIN_SC
// @DisplayName: Cross-Track Gain
// @Description: This controls the rate that the Auto Controller will attempt to return original track
// @Units: Dimensionless
// @User: Standard
GSCALAR(crosstrack_gain, "XTRK_GAIN_SC", CROSSTRACK_GAIN),
// @Param: XTRK_MIN_DIST
// @DisplayName: Crosstrack mininum distance
// @Description: Minimum distance in meters between waypoints to do crosstrack correction.
// @Units: Meters
// @Range: 0 32767
// @Increment: 1
// @User: Standard
GSCALAR(crosstrack_min_distance, "XTRK_MIN_DIST", CROSSTRACK_MIN_DISTANCE),
// @Param: RTL_LOIT_TIME
// @DisplayName: RTL loiter time
// @Description: Time (in milliseconds) to loiter above home before begining final descent

3
ArduCopter/navigation.pde
View File

@ -262,9 +262,6 @@ static void verify_altitude()
// Keeps old data out of our calculation / logs
static void reset_nav_params(void)
{
// We must be heading to a new WP, so XTrack must be 0
crosstrack_error = 0;
// Will be set by new command
wp_bearing = 0;