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Copter: remove unused run_rate_controllers

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Randy Mackay 2014-01-06 12:30:00 +09:00 committed by Andrew Tridgell
parent e1bf4af1b8
commit abb42bcb41
2 changed files with 0 additions and 51 deletions
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45
ArduCopter/Attitude.pde
View File

@ -472,51 +472,6 @@ void set_yaw_rate_target( int32_t desired_rate, uint8_t earth_or_body_frame ) {
} }
} }
// update_rate_contoller_targets - converts earth frame rates to body frame rates for rate controllers
void
update_rate_contoller_targets()
{
if( rate_targets_frame == EARTH_FRAME ) {
// convert earth frame rates to body frame rates
roll_rate_target_bf = roll_rate_target_ef - ahrs.sin_pitch() * yaw_rate_target_ef;
pitch_rate_target_bf = ahrs.cos_roll() * pitch_rate_target_ef + ahrs.sin_roll() * ahrs.cos_pitch() * yaw_rate_target_ef;
yaw_rate_target_bf = ahrs.cos_pitch() * ahrs.cos_roll() * yaw_rate_target_ef - ahrs.sin_roll() * pitch_rate_target_ef;
}else if( rate_targets_frame == BODY_EARTH_FRAME ) {
// add converted earth frame rates to body frame rates
acro_roll_rate = roll_rate_target_ef - ahrs.sin_pitch() * yaw_rate_target_ef;
acro_pitch_rate = ahrs.cos_roll() * pitch_rate_target_ef + ahrs.sin_roll() * ahrs.cos_pitch() * yaw_rate_target_ef;
acro_yaw_rate = ahrs.cos_pitch() * ahrs.cos_roll() * yaw_rate_target_ef - ahrs.sin_roll() * pitch_rate_target_ef;
}
}
// run roll, pitch and yaw rate controllers and send output to motors
// targets for these controllers comes from stabilize controllers
void
run_rate_controllers()
{
#if FRAME_CONFIG == HELI_FRAME
// convert desired roll and pitch rate to roll and pitch swash angles
heli_integrated_swash_controller(roll_rate_target_bf, pitch_rate_target_bf);
// helicopters only use rate controllers for yaw and only when not using an external gyro
if(motors.tail_type() != AP_MOTORS_HELI_TAILTYPE_SERVO_EXTGYRO) {
g.rc_4.servo_out = get_heli_rate_yaw(yaw_rate_target_bf);
}else{
// do not use rate controllers for helicotpers with external gyros
g.rc_4.servo_out = constrain_int32(yaw_rate_target_bf, -4500, 4500);
}
#else
// call rate controllers
g.rc_1.servo_out = get_rate_roll(roll_rate_target_bf);
g.rc_2.servo_out = get_rate_pitch(pitch_rate_target_bf);
g.rc_4.servo_out = get_rate_yaw(yaw_rate_target_bf);
#endif
// run throttle controller if accel based throttle controller is enabled and active (active means it has been given a target)
if( throttle_accel_controller_active ) {
set_throttle_out(get_throttle_accel(throttle_accel_target_ef), true);
}
}
#if FRAME_CONFIG != HELI_FRAME #if FRAME_CONFIG != HELI_FRAME
static int16_t static int16_t
get_rate_roll(int32_t target_rate) get_rate_roll(int32_t target_rate)

6
ArduCopter/system.pde
View File

@ -397,17 +397,11 @@ static bool set_mode(uint8_t mode)
case STABILIZE: case STABILIZE:
success = stabilize_init(); success = stabilize_init();
set_yaw_mode(STABILIZE_YAW);
set_roll_pitch_mode(STABILIZE_RP);
set_throttle_mode(STABILIZE_THR);
set_nav_mode(NAV_NONE); set_nav_mode(NAV_NONE);
break; break;
case ALT_HOLD: case ALT_HOLD:
success = althold_init(); success = althold_init();
set_yaw_mode(ALT_HOLD_YAW);
set_roll_pitch_mode(ALT_HOLD_RP);
set_throttle_mode(ALT_HOLD_THR);
set_nav_mode(NAV_NONE); set_nav_mode(NAV_NONE);
break; break;