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Copter: clean up

This commit is contained in:
bnsgeyer 2023-11-30 20:16:22 -05:00 committed by Bill Geyer
parent ad75c0c1d8
commit d0cf2240dc
1 changed files with 1 additions and 14 deletions
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15
ArduCopter/mode_systemid.cpp
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@ -161,8 +161,6 @@ void ModeSystemId::run()
float pilot_throttle_scaled = 0.0f; float pilot_throttle_scaled = 0.0f;
float target_climb_rate = 0.0f; float target_climb_rate = 0.0f;
Vector2f input_vel; Vector2f input_vel;
Vector2f pilot_vel;
Vector2f vel_correction;
if ((AxisType)axis.get() != AxisType::DISTURB_POS_LAT && (AxisType)axis.get() != AxisType::DISTURB_POS_LONG if ((AxisType)axis.get() != AxisType::DISTURB_POS_LAT && (AxisType)axis.get() != AxisType::DISTURB_POS_LONG
&& (AxisType)axis.get() != AxisType::DISTURB_VEL_LAT && (AxisType)axis.get() != AxisType::DISTURB_VEL_LONG && (AxisType)axis.get() != AxisType::DISTURB_VEL_LAT && (AxisType)axis.get() != AxisType::DISTURB_VEL_LONG
@ -226,17 +224,6 @@ void ModeSystemId::run()
pilot_throttle_scaled = get_pilot_desired_throttle(); pilot_throttle_scaled = get_pilot_desired_throttle();
#endif #endif
} else {
if (!copter.failsafe.radio) {
// apply SIMPLE mode transform to pilot inputs
update_simple_mode();
// convert pilot input to reposition velocity
// use half maximum acceleration as the maximum velocity to ensure aircraft will
// stop from full reposition speed in less than 1 second.
const float max_pilot_vel = wp_nav->get_wp_acceleration() * 0.5;
vel_correction = get_pilot_desired_velocity(max_pilot_vel);
}
} }
if ((systemid_state == SystemIDModeState::SYSTEMID_STATE_TESTING) && if ((systemid_state == SystemIDModeState::SYSTEMID_STATE_TESTING) &&
@ -374,7 +361,7 @@ void ModeSystemId::run()
} }
Vector2f accel; Vector2f accel;
pos_control->input_vel_accel_xy(vel_correction, accel); pos_control->input_vel_accel_xy(input_vel, accel);
// run pos controller // run pos controller
pos_control->update_xy_controller(); pos_control->update_xy_controller();