Copter: Remove parameter RNGFND_GAIN

ArduCopter/Parameters.cpp

@@ -167,16 +167,6 @@ const AP_Param::Info Copter::var_info[] = {
     GSCALAR(rtl_alt_type, "RTL_ALT_TYPE", 0),
 #endif
 
-#if RANGEFINDER_ENABLED == ENABLED
-    // @Param: RNGFND_GAIN
-    // @DisplayName: Rangefinder gain
-    // @Description: Used to adjust the speed with which the target altitude is changed when objects are sensed below the copter
-    // @Range: 0.01 2.0
-    // @Increment: 0.01
-    // @User: Standard
-    GSCALAR(rangefinder_gain, "RNGFND_GAIN", RANGEFINDER_GAIN_DEFAULT),
-#endif
-
     // @Param: FS_GCS_ENABLE
     // @DisplayName: Ground Station Failsafe Enable
     // @Description: Controls whether failsafe will be invoked (and what action to take) when connection with Ground station is lost for at least 5 seconds. See FS_OPTIONS param for additional actions, or for cases allowing Mission continuation, when GCS failsafe is enabled.
@@ -346,7 +336,7 @@ const AP_Param::Info Copter::var_info[] = {
     // @DisplayName: Channel 6 Tuning
     // @Description: Controls which parameters (normally PID gains) are being tuned with transmitter's channel 6 knob
     // @User: Standard
-    // @Values: 0:None,1:Stab Roll/Pitch kP,4:Rate Roll/Pitch kP,5:Rate Roll/Pitch kI,21:Rate Roll/Pitch kD,3:Stab Yaw kP,6:Rate Yaw kP,26:Rate Yaw kD,56:Rate Yaw Filter,55:Motor Yaw Headroom,14:AltHold kP,7:Throttle Rate kP,34:Throttle Accel kP,35:Throttle Accel kI,36:Throttle Accel kD,12:Loiter Pos kP,22:Velocity XY kP,28:Velocity XY kI,10:WP Speed,25:Acro RollPitch kP,40:Acro Yaw kP,45:RC Feel,13:Heli Ext Gyro,38:Declination,39:Circle Rate,41:RangeFinder Gain,46:Rate Pitch kP,47:Rate Pitch kI,48:Rate Pitch kD,49:Rate Roll kP,50:Rate Roll kI,51:Rate Roll kD,52:Rate Pitch FF,53:Rate Roll FF,54:Rate Yaw FF,58:SysID Magnitude
+    // @Values: 0:None,1:Stab Roll/Pitch kP,4:Rate Roll/Pitch kP,5:Rate Roll/Pitch kI,21:Rate Roll/Pitch kD,3:Stab Yaw kP,6:Rate Yaw kP,26:Rate Yaw kD,56:Rate Yaw Filter,55:Motor Yaw Headroom,14:AltHold kP,7:Throttle Rate kP,34:Throttle Accel kP,35:Throttle Accel kI,36:Throttle Accel kD,12:Loiter Pos kP,22:Velocity XY kP,28:Velocity XY kI,10:WP Speed,25:Acro RollPitch kP,40:Acro Yaw kP,45:RC Feel,13:Heli Ext Gyro,38:Declination,39:Circle Rate,46:Rate Pitch kP,47:Rate Pitch kI,48:Rate Pitch kD,49:Rate Roll kP,50:Rate Roll kI,51:Rate Roll kD,52:Rate Pitch FF,53:Rate Roll FF,54:Rate Yaw FF,58:SysID Magnitude
     GSCALAR(radio_tuning, "TUNE",                   0),
 
     // @Param: FRAME_TYPE

ArduCopter/Parameters.h

@@ -102,7 +102,7 @@ public:
         k_param_acro_trainer,
         k_param_pilot_speed_up,         // renamed from k_param_pilot_velocity_z_max
         k_param_circle_rate,            // deprecated - remove
-        k_param_rangefinder_gain,
+        k_param_rangefinder_gain,       // deprecated - remove
         k_param_ch8_option_old,         // deprecated
         k_param_arming_check_old,       // deprecated - remove
         k_param_sprayer,
@@ -403,10 +403,6 @@ public:
     AP_Int8         rtl_alt_type;
 #endif
 
-#if RANGEFINDER_ENABLED == ENABLED
-    AP_Float        rangefinder_gain;
-#endif
-
     AP_Int8         failsafe_gcs;               // ground station failsafe behavior
     AP_Int16        gps_hdop_good;              // GPS Hdop value at or below this value represent a good position
 

ArduCopter/config.h

@@ -81,10 +81,6 @@
 # define RANGEFINDER_TIMEOUT_MS 1000        // rangefinder filter reset if no updates from sensor in 1 second
 #endif
 
-#ifndef RANGEFINDER_GAIN_DEFAULT
- # define RANGEFINDER_GAIN_DEFAULT 0.8f     // gain for controlling how quickly rangefinder range adjusts target altitude (lower means slower reaction)
-#endif
-
 #ifndef RANGEFINDER_FILT_DEFAULT
  # define RANGEFINDER_FILT_DEFAULT 0.5f     // filter for rangefinder distance
 #endif

ArduCopter/defines.h

@@ -54,7 +54,7 @@ enum tuning_func {
     TUNING_DECLINATION =                38, // compass declination in radians
     TUNING_CIRCLE_RATE =                39, // circle turn rate in degrees (hard coded to about 45 degrees in either direction)
     TUNING_ACRO_YAW_KP =                40, // acro controller's P term.  converts pilot input to a desired roll, pitch or yaw rate
-    TUNING_RANGEFINDER_GAIN =           41, // rangefinder gain
+    TUNING_RANGEFINDER_GAIN =           41, // unused
     TUNING_EKF_VERTICAL_POS =           42, // unused
     TUNING_EKF_HORIZONTAL_POS =         43, // unused
     TUNING_EKF_ACCEL_NOISE =            44, // unused

ArduCopter/tuning.cpp

@@ -142,13 +142,6 @@ void Copter::tuning()
         break;
 #endif
 
-#if RANGEFINDER_ENABLED == ENABLED
-    case TUNING_RANGEFINDER_GAIN:
-        // set rangefinder gain
-        g.rangefinder_gain.set(tuning_value);
-        break;
-#endif
-
     case TUNING_RC_FEEL_RP:
         attitude_control->set_input_tc(tuning_value);
         break;