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AP_MotorsHeli_Single: remove unused delta_phase_angle

This commit is contained in:
Randy Mackay 2016-02-03 14:36:48 +09:00
parent 381f538aca
commit f2fc39943e
2 changed files with 6 additions and 19 deletions
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21
libraries/AP_Motors/AP_MotorsHeli_Single.cpp
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@ -270,14 +270,14 @@ void AP_MotorsHeli_Single::calculate_roll_pitch_collective_factors()
if (_swash_type == AP_MOTORS_HELI_SINGLE_SWASH_CCPM) { //CCPM Swashplate, perform control mixing if (_swash_type == AP_MOTORS_HELI_SINGLE_SWASH_CCPM) { //CCPM Swashplate, perform control mixing
// roll factors // roll factors
_rollFactor[CH_1] = cosf(radians(_servo1_pos + 90 - (_phase_angle + _delta_phase_angle))); _rollFactor[CH_1] = cosf(radians(_servo1_pos + 90 - _phase_angle));
_rollFactor[CH_2] = cosf(radians(_servo2_pos + 90 - (_phase_angle + _delta_phase_angle))); _rollFactor[CH_2] = cosf(radians(_servo2_pos + 90 - _phase_angle));
_rollFactor[CH_3] = cosf(radians(_servo3_pos + 90 - (_phase_angle + _delta_phase_angle))); _rollFactor[CH_3] = cosf(radians(_servo3_pos + 90 - _phase_angle));
// pitch factors // pitch factors
_pitchFactor[CH_1] = cosf(radians(_servo1_pos - (_phase_angle + _delta_phase_angle))); _pitchFactor[CH_1] = cosf(radians(_servo1_pos - _phase_angle));
_pitchFactor[CH_2] = cosf(radians(_servo2_pos - (_phase_angle + _delta_phase_angle))); _pitchFactor[CH_2] = cosf(radians(_servo2_pos - _phase_angle));
_pitchFactor[CH_3] = cosf(radians(_servo3_pos - (_phase_angle + _delta_phase_angle))); _pitchFactor[CH_3] = cosf(radians(_servo3_pos - _phase_angle));
// collective factors // collective factors
_collectiveFactor[CH_1] = 1; _collectiveFactor[CH_1] = 1;
@ -330,15 +330,6 @@ void AP_MotorsHeli_Single::update_motor_control(RotorControlState state)
_heliflags.rotor_runup_complete = ( _main_rotor.is_runup_complete() && _tail_rotor.is_runup_complete() ); _heliflags.rotor_runup_complete = ( _main_rotor.is_runup_complete() && _tail_rotor.is_runup_complete() );
} }
// set_delta_phase_angle for setting variable phase angle compensation and force
// recalculation of collective factors
void AP_MotorsHeli_Single::set_delta_phase_angle(int16_t angle)
{
angle = constrain_int16(angle, -90, 90);
_delta_phase_angle = angle;
calculate_roll_pitch_collective_factors();
}
// //
// move_actuators - moves swash plate and tail rotor // move_actuators - moves swash plate and tail rotor
// - expected ranges: // - expected ranges:

4
libraries/AP_Motors/AP_MotorsHeli_Single.h
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@ -114,10 +114,6 @@ public:
// supports_yaw_passthrought - returns true if we support yaw passthrough // supports_yaw_passthrought - returns true if we support yaw passthrough
bool supports_yaw_passthrough() const { return _tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_SERVO_EXTGYRO; } bool supports_yaw_passthrough() const { return _tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_SERVO_EXTGYRO; }
// set_delta_phase_angle for setting variable phase angle compensation and force
// recalculation of collective factors
void set_delta_phase_angle(int16_t angle);
void set_acro_tail(bool set) { _acro_tail = set; } void set_acro_tail(bool set) { _acro_tail = set; }
// servo_test - move servos through full range of movement // servo_test - move servos through full range of movement