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AC_PID: removed AFF from heli PID

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this is not used any more. Discussed with Rob on dev call
This commit is contained in:
Andrew Tridgell 2016-05-12 17:37:01 +10:00
parent 75d76ac3bd
commit a6404cf1ea
2 changed files with 1 additions and 25 deletions
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22
libraries/AC_PID/AC_HELI_PID.cpp
View File

@ -44,10 +44,7 @@ const AP_Param::GroupInfo AC_HELI_PID::var_info[] = {
// @User: Advanced
AP_GROUPINFO("ILMI", 7, AC_HELI_PID, _leak_min, AC_PID_LEAK_MIN),
// @Param: AFF
// @DisplayName: Acceleration FF FeedForward Gain
// @Description: Acceleration FF Gain which produces an output value that is proportional to the change in demanded input
AP_GROUPINFO("AFF", 8, AC_HELI_PID, _aff, 0),
// index 8 was for AFF, now removed
AP_GROUPEND
};
@ -57,7 +54,6 @@ AC_HELI_PID::AC_HELI_PID(float initial_p, float initial_i, float initial_d, floa
AC_PID(initial_p, initial_i, initial_d, initial_imax, initial_filt_hz, dt)
{
_vff = initial_vff;
_aff = 0;
_last_requested_rate = 0;
}
@ -67,22 +63,6 @@ float AC_HELI_PID::get_vff(float requested_rate)
return _pid_info.FF;
}
float AC_HELI_PID::get_aff(float requested_rate)
{
float derivative;
// calculate derivative
if (_dt > 0.0f) {
derivative = (requested_rate - _last_requested_rate) / _dt;
} else {
derivative = 0;
}
_pid_info.AFF = derivative * _aff;
_last_requested_rate = requested_rate;
return _pid_info.AFF;
}
// This is an integrator which tends to decay to zero naturally
// if the error is zero.

4
libraries/AC_PID/AC_HELI_PID.h
View File

@ -23,9 +23,6 @@ public:
/// get_vff - return Velocity FeedForward Term
float get_vff(float requested_rate);
/// get_avff - return Acceleration FeedForward Term
float get_aff(float requested_rate);
/// get_leaky_i - replacement for get_i but output is leaded at leak_rate
float get_leaky_i(float leak_rate);
@ -38,7 +35,6 @@ public:
private:
AP_Float _vff;
AP_Float _leak_min;
AP_Float _aff;
float _last_requested_rate; // Requested rate from last iteration, used to calculate rate change of requested rate
};