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https://github.com/ArduPilot/ardupilot
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Copter: remove unused Attitude.pde functions
This commit is contained in:
Randy Mackay
Andrew Tridgell
parent
0a2adbac1b
commit
b29a963fd6
@ -472,105 +472,6 @@ void set_yaw_rate_target( int32_t desired_rate, uint8_t earth_or_body_frame ) {
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}
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}
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#if FRAME_CONFIG != HELI_FRAME
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static int16_t
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get_rate_roll(int32_t target_rate)
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{
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int32_t p,i,d; // used to capture pid values for logging
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int32_t current_rate; // this iteration's rate
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int32_t rate_error; // simply target_rate - current_rate
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int32_t output; // output from pid controller
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// get current rate
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current_rate = (omega.x * DEGX100);
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// call pid controller
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rate_error = target_rate - current_rate;
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p = g.pid_rate_roll.get_p(rate_error);
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// get i term
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i = g.pid_rate_roll.get_integrator();
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// update i term as long as we haven't breached the limits or the I term will certainly reduce
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if (!motors.limit.roll_pitch || ((i>0&&rate_error<0)||(i<0&&rate_error>0))) {
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i = g.pid_rate_roll.get_i(rate_error, G_Dt);
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}
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d = g.pid_rate_roll.get_d(rate_error, G_Dt);
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output = p + i + d;
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// constrain output
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output = constrain_int32(output, -5000, 5000);
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// output control
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return output;
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}
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static int16_t
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get_rate_pitch(int32_t target_rate)
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{
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int32_t p,i,d; // used to capture pid values for logging
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int32_t current_rate; // this iteration's rate
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int32_t rate_error; // simply target_rate - current_rate
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int32_t output; // output from pid controller
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// get current rate
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current_rate = (omega.y * DEGX100);
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// call pid controller
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rate_error = target_rate - current_rate;
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p = g.pid_rate_pitch.get_p(rate_error);
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// get i term
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i = g.pid_rate_pitch.get_integrator();
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// update i term as long as we haven't breached the limits or the I term will certainly reduce
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if (!motors.limit.roll_pitch || ((i>0&&rate_error<0)||(i<0&&rate_error>0))) {
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i = g.pid_rate_pitch.get_i(rate_error, G_Dt);
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}
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d = g.pid_rate_pitch.get_d(rate_error, G_Dt);
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output = p + i + d;
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// constrain output
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output = constrain_int32(output, -5000, 5000);
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// output control
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return output;
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}
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static int16_t
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get_rate_yaw(int32_t target_rate)
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{
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int32_t p,i,d; // used to capture pid values for logging
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int32_t rate_error;
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int32_t output;
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// rate control
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rate_error = target_rate - (omega.z * DEGX100);
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// separately calculate p, i, d values for logging
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p = g.pid_rate_yaw.get_p(rate_error);
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// get i term
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i = g.pid_rate_yaw.get_integrator();
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// update i term as long as we haven't breached the limits or the I term will certainly reduce
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if (!motors.limit.yaw || ((i>0&&rate_error<0)||(i<0&&rate_error>0))) {
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i = g.pid_rate_yaw.get_i(rate_error, G_Dt);
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}
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// get d value
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d = g.pid_rate_yaw.get_d(rate_error, G_Dt);
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output = p+i+d;
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output = constrain_int32(output, -4500, 4500);
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// constrain output
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return output;
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}
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#endif // !HELI_FRAME
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// calculate modified roll/pitch depending upon optical flow calculated position
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static int32_t
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get_of_roll(int32_t input_roll)
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@ -815,49 +716,6 @@ set_throttle_takeoff()
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motors.slow_start(true);
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}
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// get_throttle_accel - accelerometer based throttle controller
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// returns an actual throttle output (0 ~ 1000) to be sent to the motors
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static int16_t
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get_throttle_accel(int16_t z_target_accel)
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{
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static float z_accel_error = 0; // The acceleration error in cm.
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static uint32_t last_call_ms = 0; // the last time this controller was called
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int32_t p,i,d; // used to capture pid values for logging
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int16_t output;
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float z_accel_meas;
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uint32_t now = millis();
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// Calculate Earth Frame Z acceleration
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z_accel_meas = -(ahrs.get_accel_ef().z + GRAVITY_MSS) * 100;
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// reset target altitude if this controller has just been engaged
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if( now - last_call_ms > 100 ) {
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// Reset Filter
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z_accel_error = 0;
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} else {
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// calculate accel error and Filter with fc = 2 Hz
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z_accel_error = z_accel_error + 0.11164f * (constrain_float(z_target_accel - z_accel_meas, -32000, 32000) - z_accel_error);
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}
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last_call_ms = now;
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// separately calculate p, i, d values for logging
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p = g.pid_throttle_accel.get_p(z_accel_error);
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// get i term
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i = g.pid_throttle_accel.get_integrator();
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// update i term as long as we haven't breached the limits or the I term will certainly reduce
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if ((!motors.limit.throttle_lower && !motors.limit.throttle_upper) || (i>0&&z_accel_error<0) || (i<0&&z_accel_error>0)) {
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i = g.pid_throttle_accel.get_i(z_accel_error, .01f);
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}
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d = g.pid_throttle_accel.get_d(z_accel_error, .01f);
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output = constrain_float(p+i+d+g.throttle_cruise, g.throttle_min, g.throttle_max);
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return output;
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}
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// get_pilot_desired_throttle - transform pilot's throttle input to make cruise throttle mid stick
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// used only for manual throttle modes
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// returns throttle output 0 to 1000
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