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Copter: remove setting position control's altitude max

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AC_Avoid now takes responsibility for enforcing the alt limit and accesses inertial nav's limit directly
This commit is contained in:
Randy Mackay 2017-01-16 13:51:07 +09:00
parent 62a4867cd4
commit cb1f7ba4bb
3 changed files with 0 additions and 15 deletions
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3
ArduCopter/ArduCopter.cpp
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@ -504,9 +504,6 @@ void Copter::one_hz_loop()
check_usb_mux(); check_usb_mux();
// update position controller alt limits
update_poscon_alt_max();
// enable/disable raw gyro/accel logging // enable/disable raw gyro/accel logging
ins.set_raw_logging(should_log(MASK_LOG_IMU_RAW)); ins.set_raw_logging(should_log(MASK_LOG_IMU_RAW));

11
ArduCopter/Attitude.cpp
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@ -302,17 +302,6 @@ void Copter::set_accel_throttle_I_from_pilot_throttle()
g.pid_accel_z.set_integrator((pilot_throttle-motors->get_throttle_hover()) * 1000.0f); g.pid_accel_z.set_integrator((pilot_throttle-motors->get_throttle_hover()) * 1000.0f);
} }
// updates position controller's maximum altitude using fence and EKF limits
void Copter::update_poscon_alt_max()
{
// get alt limit from EKF (limited during optical flow flight)
float ekf_limit_cm;
if (inertial_nav.get_hgt_ctrl_limit(ekf_limit_cm)) {
// pass limit to pos controller
pos_control->set_alt_max(ekf_limit_cm);
}
}
// rotate vector from vehicle's perspective to North-East frame // rotate vector from vehicle's perspective to North-East frame
void Copter::rotate_body_frame_to_NE(float &x, float &y) void Copter::rotate_body_frame_to_NE(float &x, float &y)
{ {

1
ArduCopter/Copter.h
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@ -668,7 +668,6 @@ private:
void auto_takeoff_set_start_alt(void); void auto_takeoff_set_start_alt(void);
void auto_takeoff_attitude_run(float target_yaw_rate); void auto_takeoff_attitude_run(float target_yaw_rate);
void set_accel_throttle_I_from_pilot_throttle(); void set_accel_throttle_I_from_pilot_throttle();
void update_poscon_alt_max();
void rotate_body_frame_to_NE(float &x, float &y); void rotate_body_frame_to_NE(float &x, float &y);
void gcs_send_heartbeat(void); void gcs_send_heartbeat(void);
void gcs_send_deferred(void); void gcs_send_deferred(void);