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Copter: remove deprecated Guided-Spline

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Guided-Spline has been replaced by Guided-PosVel
This commit is contained in:
Randy Mackay 2015-01-07 12:39:31 +09:00
parent 2a5a133bbf
commit 80f59694d0
2 changed files with 0 additions and 67 deletions
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66
ArduCopter/control_guided.pde
View File

@ -117,27 +117,6 @@ static void guided_posvel_control_start()
set_auto_yaw_mode(AUTO_YAW_HOLD);
}
// initialise guided mode's spline controller
static void guided_spline_control_start()
{
// set guided_mode to velocity controller
guided_mode = Guided_Spline;
// initialise waypoint and spline controller
wp_nav.wp_and_spline_init();
// initialise wpnav to stopping point at current altitude
// To-Do: set to current location if disarmed?
// To-Do: set to stopping point altitude?
Vector3f stopping_point;
stopping_point.z = inertial_nav.get_altitude();
wp_nav.get_wp_stopping_point_xy(stopping_point);
wp_nav.set_wp_destination(stopping_point);
// initialise yaw
set_auto_yaw_mode(get_default_auto_yaw_mode(false));
}
// guided_set_destination - sets guided mode's target destination
static void guided_set_destination(const Vector3f& destination)
{
@ -175,16 +154,6 @@ static void guided_set_destination_posvel(const Vector3f& destination, const Vec
pos_control.set_pos_target(posvel_pos_target_cm);
}
// set guided mode spline target
static void guided_set_destination_spline(const Vector3f& destination, const Vector3f& velocity) {
// check we are in velocity control mode
if (guided_mode != Guided_Spline) {
guided_spline_control_start();
}
wp_nav.set_spline_dest_and_vel(destination, velocity);
}
// guided_run - runs the guided controller
// should be called at 100hz or more
static void guided_run()
@ -217,11 +186,6 @@ static void guided_run()
guided_vel_control_run();
break;
case Guided_Spline:
// run spline controller
guided_spline_control_run();
break;
case Guided_PosVel:
// run position-velocity controller
guided_posvel_control_run();
@ -362,36 +326,6 @@ static void guided_posvel_control_run()
}
}
// guided_spline_control_run - runs the guided spline controller
// called from guided_run
static void guided_spline_control_run()
{
// process pilot's yaw input
float target_yaw_rate = 0;
if (!failsafe.radio) {
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(g.rc_4.control_in);
if (target_yaw_rate != 0) {
set_auto_yaw_mode(AUTO_YAW_HOLD);
}
}
// run waypoint controller
wp_nav.update_spline();
// call z-axis position controller (wpnav should have already updated it's alt target)
pos_control.update_z_controller();
// call attitude controller
if (auto_yaw_mode == AUTO_YAW_HOLD) {
// roll & pitch from waypoint controller, yaw rate from pilot
attitude_control.angle_ef_roll_pitch_rate_ef_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate);
}else{
// roll, pitch from waypoint controller, yaw heading from auto_heading()
attitude_control.angle_ef_roll_pitch_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), get_auto_heading(), true);
}
}
// Guided Limit code
// guided_limit_clear - clear/turn off guided limits

1
ArduCopter/defines.h
View File

@ -189,7 +189,6 @@ enum GuidedMode {
Guided_TakeOff,
Guided_WP,
Guided_Velocity,
Guided_Spline,
Guided_PosVel
};