From e8b27b9d19a68065bb62eabf7507adbffabc4836 Mon Sep 17 00:00:00 2001 From: Rustom Jehangir Date: Wed, 24 Feb 2016 14:27:17 -0800 Subject: [PATCH] Sub: Removed unneeded control_rov.cpp. --- ArduSub/control_rov.cpp | 57 ----------------------------------------- 1 file changed, 57 deletions(-) delete mode 100644 ArduSub/control_rov.cpp diff --git a/ArduSub/control_rov.cpp b/ArduSub/control_rov.cpp deleted file mode 100644 index 417746b2b2..0000000000 --- a/ArduSub/control_rov.cpp +++ /dev/null @@ -1,57 +0,0 @@ -/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- - -#include "Sub.h" - -/* - * control_rov.cpp - Control for basic ROV operation - */ - -// stabilize_init - initialise stabilize controller -bool Sub::rov_init(bool ignore_checks) -{ - // if landed and the mode we're switching from does not have manual throttle and the throttle stick is too high - //if (motors.armed() && ap.land_complete && !mode_has_manual_throttle(control_mode) && (g.rc_3.control_in > get_non_takeoff_throttle())) { - // return false; - //} - // set target altitude to zero for reporting - pos_control.set_alt_target(0); - - return true; -} - -// stabilize_run - runs the main stabilize controller -// should be called at 100hz or more -void Sub::rov_run() -{ - float target_roll, target_pitch; - float target_yaw_rate; - int16_t pilot_throttle_scaled; - - // if not armed or throttle at zero, set throttle to zero and exit immediately - if(!motors.armed()) { - attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt); - // slow start if landed - if (ap.land_complete) { - motors.slow_start(true); - } - return; - } - - // convert pilot input to lean angles - // To-Do: convert get_pilot_desired_lean_angles to return angles as floats - get_pilot_desired_lean_angles(0, channel_pitch->control_in, target_roll, target_pitch, aparm.angle_max); - - // get pilot's desired yaw rate - target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->control_in); - - // get pilot's desired throttle - pilot_throttle_scaled = get_pilot_desired_throttle(channel_throttle->control_in); - - // call attitude controller - attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain()); - - // body-frame rate controller is run directly from 100hz loop - - // output pilot's throttle - attitude_control.set_throttle_out(pilot_throttle_scaled, true, g.throttle_filt); -}