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Rover: Parmeters: remove old sailboat params

This commit is contained in:
Peter Hall 2019-05-07 19:20:43 +01:00 committed by Randy Mackay
parent f22d7c906a
commit d5f3cf50e4
2 changed files with 10 additions and 60 deletions
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60
APMrover2/Parameters.cpp
View File

@ -585,50 +585,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
// @Path: ../libraries/AP_WindVane/AP_WindVane.cpp
AP_SUBGROUPINFO(windvane, "WNDVN_", 31, ParametersG2, AP_WindVane),
// @Param: SAIL_ANGLE_MIN
// @DisplayName: Sail min angle
// @Description: Mainsheet tight, angle between centerline and boom
// @Units: deg
// @Range: 0 90
// @Increment: 1
// @User: Standard
AP_GROUPINFO("SAIL_ANGLE_MIN", 32, ParametersG2, sail_angle_min, 0),
// @Param: SAIL_ANGLE_MAX
// @DisplayName: Sail max angle
// @Description: Mainsheet loose, angle between centerline and boom
// @Units: deg
// @Range: 0 90
// @Increment: 1
// @User: Standard
AP_GROUPINFO("SAIL_ANGLE_MAX", 33, ParametersG2, sail_angle_max, 90),
// @Param: SAIL_ANGLE_IDEAL
// @DisplayName: Sail ideal angle
// @Description: Ideal angle between sail and apparent wind
// @Units: deg
// @Range: 0 90
// @Increment: 1
// @User: Standard
AP_GROUPINFO("SAIL_ANGLE_IDEAL", 34, ParametersG2, sail_angle_ideal, 25),
// @Param: SAIL_HEEL_MAX
// @DisplayName: Sailing maximum heel angle
// @Description: When in auto sail trim modes the heel will be limited to this value using PID control
// @Units: deg
// @Range: 0 90
// @Increment: 1
// @User: Standard
AP_GROUPINFO("SAIL_HEEL_MAX", 35, ParametersG2, sail_heel_angle_max, 15),
// @Param: SAIL_NO_GO_ANGLE
// @DisplayName: Sailing no go zone angle
// @Description: The typical closest angle to the wind the vehicle will sail at. the vehicle will sail at this angle when going upwind
// @Units: deg
// @Range: 0 90
// @Increment: 1
// @User: Standard
AP_GROUPINFO("SAIL_NO_GO_ANGLE", 36, ParametersG2, sail_no_go, 45),
// 32 to 36 were old sailboat params
// @Group: ARSPD
// @Path: ../libraries/AP_Airspeed/AP_Airspeed.cpp
@ -672,6 +629,10 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
// @Path: ../libraries/AR_WPNav/AR_WPNav.cpp
AP_SUBGROUPINFO(wp_nav, "WP_", 43, ParametersG2, AR_WPNav),
// @Group: SAIL_
// @Path: sailboat.cpp
AP_SUBGROUPINFO(sailboat, "SAIL_", 44, ParametersG2, Sailboat),
AP_GROUPEND
};
@ -744,7 +705,8 @@ ParametersG2::ParametersG2(void)
follow(),
windvane(),
airspeed(),
wp_nav(attitude_control, rover.L1_controller)
wp_nav(attitude_control, rover.L1_controller),
sailboat()
{
AP_Param::setup_object_defaults(this, var_info);
}
@ -817,14 +779,6 @@ void Rover::load_parameters(void)
g2.crash_angle.set_default(30);
}
// sailboat defaults
if (g2.motors.has_sail()) {
g2.crash_angle.set_default(0);
g2.loit_type.set_default(1);
g2.loit_radius.set_default(5);
g2.wp_nav.set_default_overshoot(10);
}
const uint8_t old_rc_keys[14] = { Parameters::k_param_rc_1_old, Parameters::k_param_rc_2_old,
Parameters::k_param_rc_3_old, Parameters::k_param_rc_4_old,
Parameters::k_param_rc_5_old, Parameters::k_param_rc_6_old,

10
APMrover2/Parameters.h
View File

@ -368,13 +368,6 @@ public:
// Simple mode types
AP_Int8 simple_type;
// sailboat parameters
AP_Float sail_angle_min;
AP_Float sail_angle_max;
AP_Float sail_angle_ideal;
AP_Float sail_heel_angle_max;
AP_Float sail_no_go;
// windvane
AP_WindVane windvane;
@ -396,6 +389,9 @@ public:
// waypoint navigation
AR_WPNav wp_nav;
// Sailboat functions
Sailboat sailboat;
};
extern const AP_Param::Info var_info[];