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AC_PosControl: remove unused limit flags

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Iampete1 2021-11-21 12:28:50 +00:00 committed by Randy Mackay
parent 460df9bb50
commit be6598708e
2 changed files with 2 additions and 14 deletions
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9
libraries/AC_AttitudeControl/AC_PosControl.cpp
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@ -318,11 +318,6 @@ AC_PosControl::AC_PosControl(AP_AHRS_View& ahrs, const AP_InertialNav& inav,
_jerk_max_z_cmsss(POSCONTROL_JERK_Z * 100.0)
{
AP_Param::setup_object_defaults(this, var_info);
// initialise flags
_limit.pos_xy = true;
_limit.pos_up = true;
_limit.pos_down = true;
}
@ -620,7 +615,7 @@ void AC_PosControl::update_xy_controller()
// Position Controller
const Vector3f &curr_pos = _inav.get_position();
Vector2f vel_target = _p_pos_xy.update_all(_pos_target.x, _pos_target.y, curr_pos, _limit.pos_xy);
Vector2f vel_target = _p_pos_xy.update_all(_pos_target.x, _pos_target.y, curr_pos);
// add velocity feed-forward scaled to compensate for optical flow measurement induced EKF noise
vel_target *= ahrsControlScaleXY;
@ -958,7 +953,7 @@ void AC_PosControl::update_z_controller()
// calculate the target velocity correction
float pos_target_zf = _pos_target.z;
_vel_target.z = _p_pos_z.update_all(pos_target_zf, curr_alt, _limit.pos_down, _limit.pos_up);
_vel_target.z = _p_pos_z.update_all(pos_target_zf, curr_alt);
_vel_target.z *= AP::ahrs().getControlScaleZ();
_pos_target.z = pos_target_zf;

7
libraries/AC_AttitudeControl/AC_PosControl.h
View File

@ -390,13 +390,6 @@ protected:
uint16_t vehicle_horiz_vel_override : 1; // 1 if we should use _vehicle_horiz_vel as our velocity process variable for one timestep
} _flags;
// limit flags structure
struct poscontrol_limit_flags {
bool pos_xy; // true if we have hit a horizontal position limit
bool pos_up; // true if we have hit a vertical position limit while going up
bool pos_down; // true if we have hit a vertical position limit while going down
} _limit;
/// init_xy - initialise the position controller to the current position, velocity and acceleration.
/// This function is private and contains all the shared xy axis initialisation functions
void init_xy();