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Sub: Removed unneeded control_rov.cpp.

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Rustom Jehangir 2016-02-24 14:27:17 -08:00 committed by Andrew Tridgell
parent b6a0237a63
commit e8b27b9d19
1 changed files with 0 additions and 57 deletions
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57
ArduSub/control_rov.cpp
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@ -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);
}