mirror of https://github.com/ArduPilot/ardupilot
AC_PosControl: remove THR_HOVER parameter
Parameter is set by main code so no need to store to eeprom
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@ -5,13 +5,7 @@
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extern const AP_HAL::HAL& hal;
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extern const AP_HAL::HAL& hal;
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const AP_Param::GroupInfo AC_PosControl::var_info[] PROGMEM = {
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const AP_Param::GroupInfo AC_PosControl::var_info[] PROGMEM = {
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// @Param: THR_HOVER
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// 0 was used for HOVER
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// @DisplayName: Throttle Hover
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// @Description: The autopilot's estimate of the throttle required to maintain a level hover. Calculated automatically from the pilot's throttle input while in stabilize mode
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// @Range: 0 1000
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// @Units: Percent*10
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// @User: Advanced
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AP_GROUPINFO("THR_HOVER", 0, AC_PosControl, _throttle_hover, POSCONTROL_THROTTLE_HOVER),
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AP_GROUPEND
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AP_GROUPEND
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};
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};
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@ -15,7 +15,7 @@
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// position controller default definitions
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// position controller default definitions
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#define POSCONTROL_THROTTLE_HOVER 450.0f // default throttle required to maintain hover
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#define POSCONTROL_THROTTLE_HOVER 500.0f // default throttle required to maintain hover
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#define POSCONTROL_ACCELERATION_MIN 50.0f // minimum horizontal acceleration in cm/s/s - used for sanity checking acceleration in leash length calculation
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#define POSCONTROL_ACCELERATION_MIN 50.0f // minimum horizontal acceleration in cm/s/s - used for sanity checking acceleration in leash length calculation
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#define POSCONTROL_ACCEL_XY 100.0f // default horizontal acceleration in cm/s/s. This is overwritten by waypoint and loiter controllers
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#define POSCONTROL_ACCEL_XY 100.0f // default horizontal acceleration in cm/s/s. This is overwritten by waypoint and loiter controllers
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#define POSCONTROL_ACCEL_XY_MAX 980.0f // max horizontal acceleration in cm/s/s that the position velocity controller will ask from the lower accel controller
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#define POSCONTROL_ACCEL_XY_MAX 980.0f // max horizontal acceleration in cm/s/s that the position velocity controller will ask from the lower accel controller
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@ -336,14 +336,12 @@ private:
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AC_P& _p_pos_xy;
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AC_P& _p_pos_xy;
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AC_PI_2D& _pi_vel_xy;
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AC_PI_2D& _pi_vel_xy;
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// parameters
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AP_Float _throttle_hover; // estimated throttle required to maintain a level hover
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// internal variables
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// internal variables
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float _dt; // time difference (in seconds) between calls from the main program
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float _dt; // time difference (in seconds) between calls from the main program
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float _dt_xy; // time difference (in seconds) between update_xy_controller and update_vel_controller_xyz calls
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float _dt_xy; // time difference (in seconds) between update_xy_controller and update_vel_controller_xyz calls
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uint32_t _last_update_xy_ms; // system time of last update_xy_controller call
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uint32_t _last_update_xy_ms; // system time of last update_xy_controller call
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uint32_t _last_update_z_ms; // system time of last update_z_controller call
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uint32_t _last_update_z_ms; // system time of last update_z_controller call
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float _throttle_hover; // estimated throttle required to maintain a level hover
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float _speed_down_cms; // max descent rate in cm/s
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float _speed_down_cms; // max descent rate in cm/s
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float _speed_up_cms; // max climb rate in cm/s
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float _speed_up_cms; // max climb rate in cm/s
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float _speed_cms; // max horizontal speed in cm/s
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float _speed_cms; // max horizontal speed in cm/s
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