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TradHeli: remove get_heli_rate_yaw from main code

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Randy Mackay 2014-01-30 16:58:51 +09:00 committed by Andrew Tridgell
parent 80ec61f217
commit 91124bcf8b
1 changed files with 0 additions and 43 deletions
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43
ArduCopter/heli.pde
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@ -90,49 +90,6 @@ static void check_dynamic_flight(void)
}
}
static int16_t
get_heli_rate_yaw(int32_t target_rate)
{
int32_t p,i,d,ff; // used to capture pid values for logging
int32_t current_rate; // this iteration's rate
int32_t rate_error;
int32_t output;
static bool pid_saturated; // tracker from last loop if the PID was saturated
current_rate = (omega.z * DEGX100); // get current rate
// rate control
rate_error = target_rate - current_rate;
// separately calculate p, i, d values for logging
p = g.pid_rate_yaw.get_p(rate_error);
if (pid_saturated){
i = g.pid_rate_yaw.get_integrator(); // Locked Integrator due to PID saturation on previous cycle
} else {
if (motors.motor_runup_complete()){
i = g.pid_rate_yaw.get_i(rate_error, G_Dt);
} else {
i = g.pid_rate_yaw.get_leaky_i(rate_error, G_Dt, RATE_INTEGRATOR_LEAK_RATE); // If motor is not running use leaky I-term to avoid excessive build-up
}
}
d = g.pid_rate_yaw.get_d(rate_error, G_Dt);
ff = g.heli_yaw_ff*target_rate;
output = p + i + d + ff;
if (labs(output) > 4500){
output = constrain_int32(output, -4500, 4500); // constrain output
pid_saturated = true; // freeze integrator next cycle
} else {
pid_saturated = false; // unfreeze integrator
}
return output; // output control
}
// heli_update_landing_swash - sets swash plate flag so higher minimum is used when landed or landing
// should be called soon after update_land_detector in main code
static void heli_update_landing_swash()