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AC_PosControl: remove THR_HOVER parameter 

Parameter is set by main code so no need to store to eeprom
This commit is contained in:
Leonard Hall 2015-01-31 16:06:00 +09:00 committed by Randy Mackay
parent 9866eaded1
commit 7de5bccc93
2 changed files with 3 additions and 11 deletions
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8
libraries/AC_AttitudeControl/AC_PosControl.cpp
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@ -5,13 +5,7 @@
extern const AP_HAL::HAL& hal;
const AP_Param::GroupInfo AC_PosControl::var_info[] PROGMEM = {
// @Param: THR_HOVER
// @DisplayName: Throttle Hover
// @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
// @Range: 0 1000
// @Units: Percent*10
// @User: Advanced
AP_GROUPINFO("THR_HOVER", 0, AC_PosControl, _throttle_hover, POSCONTROL_THROTTLE_HOVER),
// 0 was used for HOVER
AP_GROUPEND
};

6
libraries/AC_AttitudeControl/AC_PosControl.h
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@ -15,7 +15,7 @@
// position controller default definitions
#define POSCONTROL_THROTTLE_HOVER 450.0f // default throttle required to maintain hover
#define POSCONTROL_THROTTLE_HOVER 500.0f // default throttle required to maintain hover
#define POSCONTROL_ACCELERATION_MIN 50.0f // minimum horizontal acceleration in cm/s/s - used for sanity checking acceleration in leash length calculation
#define POSCONTROL_ACCEL_XY 100.0f // default horizontal acceleration in cm/s/s. This is overwritten by waypoint and loiter controllers
#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
@ -336,14 +336,12 @@ private:
AC_P& _p_pos_xy;
AC_PI_2D& _pi_vel_xy;
// parameters
AP_Float _throttle_hover; // estimated throttle required to maintain a level hover
// internal variables
float _dt; // time difference (in seconds) between calls from the main program
float _dt_xy; // time difference (in seconds) between update_xy_controller and update_vel_controller_xyz calls
uint32_t _last_update_xy_ms; // system time of last update_xy_controller call
uint32_t _last_update_z_ms; // system time of last update_z_controller call
float _throttle_hover; // estimated throttle required to maintain a level hover
float _speed_down_cms; // max descent rate in cm/s
float _speed_up_cms; // max climb rate in cm/s
float _speed_cms; // max horizontal speed in cm/s