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AC_AttControl: remove rate PIDs

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This commit is contained in:
Randy Mackay 2016-02-15 15:21:38 +09:00
parent 17c9db08f3
commit 75042e5e27
1 changed files with 1 additions and 39 deletions
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40
libraries/AC_AttitudeControl/AC_AttitudeControl.h
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@ -13,38 +13,6 @@
#include <AC_PID/AC_PID.h>
#include <AC_PID/AC_P.h>
// default rate controller PID gains
#ifndef AC_ATC_MULTI_RATE_RP_P
# define AC_ATC_MULTI_RATE_RP_P 0.150f
#endif
#ifndef AC_ATC_MULTI_RATE_RP_I
# define AC_ATC_MULTI_RATE_RP_I 0.100f
#endif
#ifndef AC_ATC_MULTI_RATE_RP_D
# define AC_ATC_MULTI_RATE_RP_D 0.004f
#endif
#ifndef AC_ATC_MULTI_RATE_RP_IMAX
# define AC_ATC_MULTI_RATE_RP_IMAX 2000.0f
#endif
#ifndef AC_ATC_MULTI_RATE_RP_FILT_HZ
# define AC_ATC_MULTI_RATE_RP_FILT_HZ 20.0f
#endif
#ifndef AC_ATC_MULTI_RATE_YAW_P
# define AC_ATC_MULTI_RATE_YAW_P 0.200f
#endif
#ifndef AC_ATC_MULTI_RATE_YAW_I
# define AC_ATC_MULTI_RATE_YAW_I 0.020f
#endif
#ifndef AC_ATC_MULTI_RATE_YAW_D
# define AC_ATC_MULTI_RATE_YAW_D 0.0f
#endif
#ifndef AC_ATC_MULTI_RATE_YAW_IMAX
# define AC_ATC_MULTI_RATE_YAW_IMAX 1000.0f
#endif
#ifndef AC_ATC_MULTI_RATE_YAW_FILT_HZ
# define AC_ATC_MULTI_RATE_YAW_FILT_HZ 5.0f
#endif
// TODO: change the name or move to AP_Math? eliminate in favor of degrees(100)?
#define AC_ATTITUDE_CONTROL_DEGX100 5729.57795f // constant to convert from radians to centidegrees
@ -89,10 +57,7 @@ public:
_throttle_in_filt(AC_ATTITUDE_CONTROL_ALTHOLD_LEANANGLE_FILT_HZ),
_ahrs(ahrs),
_aparm(aparm),
_motors(motors),
_pid_rate_roll(AC_ATC_MULTI_RATE_RP_P, AC_ATC_MULTI_RATE_RP_I, AC_ATC_MULTI_RATE_RP_D, AC_ATC_MULTI_RATE_RP_IMAX, AC_ATC_MULTI_RATE_RP_FILT_HZ, dt),
_pid_rate_pitch(AC_ATC_MULTI_RATE_RP_P, AC_ATC_MULTI_RATE_RP_I, AC_ATC_MULTI_RATE_RP_D, AC_ATC_MULTI_RATE_RP_IMAX, AC_ATC_MULTI_RATE_RP_FILT_HZ, dt),
_pid_rate_yaw(AC_ATC_MULTI_RATE_YAW_P, AC_ATC_MULTI_RATE_YAW_I, AC_ATC_MULTI_RATE_YAW_D, AC_ATC_MULTI_RATE_YAW_IMAX, AC_ATC_MULTI_RATE_YAW_FILT_HZ, dt)
_motors(motors)
{
AP_Param::setup_object_defaults(this, var_info);
}
@ -342,9 +307,6 @@ protected:
AC_P _p_angle_roll;
AC_P _p_angle_pitch;
AC_P _p_angle_yaw;
AC_PID _pid_rate_roll;
AC_PID _pid_rate_pitch;
AC_PID _pid_rate_yaw;
// Intersampling period in seconds
float _dt;