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AC_Autorotation: Remove bailout case

This commit is contained in:
Gone4Dirt 2024-08-07 16:43:40 +01:00 committed by Peter Barker
parent 075ce596d2
commit b96bb5dc08
2 changed files with 4 additions and 17 deletions
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17
libraries/AC_Autorotation/AC_Autorotation.cpp
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@ -4,8 +4,6 @@
#include <AP_AHRS/AP_AHRS.h> #include <AP_AHRS/AP_AHRS.h>
// Autorotation controller defaults // Autorotation controller defaults
#define AROT_BAIL_OUT_TIME 2.0f // Default time for bail out controller to run (unit: s)
// Head Speed (HS) controller specific default definitions // Head Speed (HS) controller specific default definitions
#define HS_CONTROLLER_COLLECTIVE_CUTOFF_FREQ 2.0f // low-pass filter on accel error (unit: hz) #define HS_CONTROLLER_COLLECTIVE_CUTOFF_FREQ 2.0f // low-pass filter on accel error (unit: hz)
#define HS_CONTROLLER_HEADSPEED_P 0.7f // Default P gain for head speed controller (unit: -) #define HS_CONTROLLER_HEADSPEED_P 0.7f // Default P gain for head speed controller (unit: -)
@ -81,15 +79,6 @@ const AP_Param::GroupInfo AC_Autorotation::var_info[] = {
// @User: Advanced // @User: Advanced
AP_GROUPINFO("AS_ACC_MAX", 7, AC_Autorotation, _param_accel_max, FWD_SPD_CONTROLLER_MAX_ACCEL), AP_GROUPINFO("AS_ACC_MAX", 7, AC_Autorotation, _param_accel_max, FWD_SPD_CONTROLLER_MAX_ACCEL),
// @Param: BAIL_TIME
// @DisplayName: Bail Out Timer
// @Description: Time in seconds from bail out initiated to the exit of autorotation flight mode.
// @Units: s
// @Range: 0.5 4
// @Increment: 0.1
// @User: Advanced
AP_GROUPINFO("BAIL_TIME", 8, AC_Autorotation, _param_bail_time, AROT_BAIL_OUT_TIME),
// @Param: HS_SENSOR // @Param: HS_SENSOR
// @DisplayName: Main Rotor RPM Sensor // @DisplayName: Main Rotor RPM Sensor
// @Description: Allocate the RPM sensor instance to use for measuring head speed. RPM1 = 0. RPM2 = 1. // @Description: Allocate the RPM sensor instance to use for measuring head speed. RPM1 = 0. RPM2 = 1.
@ -97,7 +86,7 @@ const AP_Param::GroupInfo AC_Autorotation::var_info[] = {
// @Range: 0.5 3 // @Range: 0.5 3
// @Increment: 0.1 // @Increment: 0.1
// @User: Advanced // @User: Advanced
AP_GROUPINFO("HS_SENSOR", 9, AC_Autorotation, _param_rpm_instance, 0), AP_GROUPINFO("HS_SENSOR", 8, AC_Autorotation, _param_rpm_instance, 0),
// @Param: FW_V_P // @Param: FW_V_P
// @DisplayName: Velocity (horizontal) P gain // @DisplayName: Velocity (horizontal) P gain
@ -105,7 +94,7 @@ const AP_Param::GroupInfo AC_Autorotation::var_info[] = {
// @Range: 0.1 6.0 // @Range: 0.1 6.0
// @Increment: 0.1 // @Increment: 0.1
// @User: Advanced // @User: Advanced
AP_SUBGROUPINFO(_p_fw_vel, "FW_V_", 10, AC_Autorotation, AC_P), AP_SUBGROUPINFO(_p_fw_vel, "FW_V_", 9, AC_Autorotation, AC_P),
// @Param: FW_V_FF // @Param: FW_V_FF
// @DisplayName: Velocity (horizontal) feed forward // @DisplayName: Velocity (horizontal) feed forward
@ -113,7 +102,7 @@ const AP_Param::GroupInfo AC_Autorotation::var_info[] = {
// @Range: 0 1 // @Range: 0 1
// @Increment: 0.01 // @Increment: 0.01
// @User: Advanced // @User: Advanced
AP_GROUPINFO("FW_V_FF", 11, AC_Autorotation, _param_fwd_k_ff, AP_FW_VEL_FF), AP_GROUPINFO("FW_V_FF", 10, AC_Autorotation, _param_fwd_k_ff, AP_FW_VEL_FF),
AP_GROUPEND AP_GROUPEND
}; };

2
libraries/AC_Autorotation/AC_Autorotation.h
View File

@ -28,7 +28,6 @@ public:
int16_t get_hs_set_point(void) { return _param_head_speed_set_point; } int16_t get_hs_set_point(void) { return _param_head_speed_set_point; }
float get_col_entry_freq(void) { return _param_col_entry_cutoff_freq; } float get_col_entry_freq(void) { return _param_col_entry_cutoff_freq; }
float get_col_glide_freq(void) { return _param_col_glide_cutoff_freq; } float get_col_glide_freq(void) { return _param_col_glide_cutoff_freq; }
float get_bail_time(void) { return _param_bail_time; }
float get_last_collective() const { return _collective_out; } float get_last_collective() const { return _collective_out; }
bool is_enable(void) { return _param_enable; } bool is_enable(void) { return _param_enable; }
void Log_Write_Autorotation(void) const; void Log_Write_Autorotation(void) const;
@ -81,7 +80,6 @@ private:
AP_Float _param_col_entry_cutoff_freq; AP_Float _param_col_entry_cutoff_freq;
AP_Float _param_col_glide_cutoff_freq; AP_Float _param_col_glide_cutoff_freq;
AP_Int16 _param_accel_max; AP_Int16 _param_accel_max;
AP_Float _param_bail_time;
AP_Int8 _param_rpm_instance; AP_Int8 _param_rpm_instance;
AP_Float _param_fwd_k_ff; AP_Float _param_fwd_k_ff;