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Copter: remove control_roll, pitch, yaw from control files

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This commit is contained in:
Randy Mackay 2014-02-03 22:04:35 +09:00 committed by Andrew Tridgell
parent e8c4e8a472
commit 2c1ec9d0c0
13 changed files with 7 additions and 115 deletions
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6
ArduCopter/control_althold.pde
View File

@ -69,10 +69,4 @@ static void althold_run()
pos_control.set_alt_target_from_climb_rate(target_climb_rate, G_Dt);
pos_control.update_z_controller();
}
// refetch angle targets for reporting
const Vector3f angle_target = attitude_control.angle_ef_targets();
control_roll = angle_target.x;
control_pitch = angle_target.y;
control_yaw = angle_target.z;
}

32
ArduCopter/control_auto.pde
View File

@ -71,6 +71,9 @@ static void auto_takeoff_start(float final_alt)
// initialise yaw
set_auto_yaw_mode(AUTO_YAW_HOLD);
// tell motors to do a slow start
motors.slow_start(true);
}
// auto_takeoff_run - takeoff in auto mode
@ -82,6 +85,8 @@ static void auto_takeoff_run()
// reset attitude control targets
attitude_control.init_targets();
attitude_control.set_throttle_out(0, false);
// tell motors to do a slow start
motors.slow_start(true);
// To-Do: re-initialise wpnav targets
return;
}
@ -101,12 +106,6 @@ static void auto_takeoff_run()
// roll & pitch from waypoint controller, yaw rate from pilot
attitude_control.angleef_rp_rateef_y(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate);
// refetch angle targets for reporting
const Vector3f angle_target = attitude_control.angle_ef_targets();
control_roll = angle_target.x;
control_pitch = angle_target.y;
control_yaw = angle_target.z;
}
// auto_wp_start - initialises waypoint controller to implement flying to a particular destination
@ -129,9 +128,10 @@ static void auto_wp_run()
if(!ap.auto_armed) {
// To-Do: reset waypoint origin to current location because copter is probably on the ground so we don't want it lurching left or right on take-off
// (of course it would be better if people just used take-off)
// To-Do: set motors to slow start
attitude_control.init_targets();
attitude_control.set_throttle_out(0, false);
// tell motors to do a slow start
motors.slow_start(true);
return;
}
@ -159,12 +159,6 @@ static void auto_wp_run()
// roll, pitch from waypoint controller, yaw heading from auto_heading()
attitude_control.angleef_rpy(wp_nav.get_roll(), wp_nav.get_pitch(), get_auto_heading(),true);
}
// refetch angle targets for reporting
const Vector3f angle_target = attitude_control.angle_ef_targets();
control_roll = angle_target.x;
control_pitch = angle_target.y;
control_yaw = angle_target.z;
}
// auto_land_start - initialises controller to implement a landing
@ -222,12 +216,6 @@ static void auto_land_run()
// roll & pitch from waypoint controller, yaw rate from pilot
attitude_control.angleef_rp_rateef_y(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate);
// refetch angle targets for reporting
const Vector3f angle_target = attitude_control.angle_ef_targets();
control_roll = angle_target.x;
control_pitch = angle_target.y;
control_yaw = angle_target.z;
}
// auto_rtl_start - initialises RTL in AUTO flight mode
@ -268,12 +256,6 @@ void auto_circle_run()
// roll & pitch from waypoint controller, yaw rate from pilot
attitude_control.angleef_rpy(circle_nav.get_roll(), circle_nav.get_pitch(), circle_nav.get_yaw(),true);
// refetch angle targets for reporting
const Vector3f angle_target = attitude_control.angle_ef_targets();
control_roll = angle_target.x;
control_pitch = angle_target.y;
control_yaw = angle_target.z;
}
// get_default_auto_yaw_mode - returns auto_yaw_mode based on WP_YAW_BEHAVIOR parameter

6
ArduCopter/control_autotune.pde
View File

@ -271,12 +271,6 @@ static void autotune_run()
pos_control.set_alt_target_from_climb_rate(target_climb_rate, G_Dt);
pos_control.update_z_controller();
}
// refetch angle targets for reporting
const Vector3f angle_target = attitude_control.angle_ef_targets();
control_roll = angle_target.x;
control_pitch = angle_target.y;
control_yaw = angle_target.z;
}
// autotune_attitude_controller - sets attitude control targets during tuning

6
ArduCopter/control_circle.pde
View File

@ -69,10 +69,4 @@ static void circle_run()
// update altitude target and call position controller
pos_control.set_alt_target_from_climb_rate(target_climb_rate, G_Dt);
pos_control.update_z_controller();
// re-fetch angle targets for reporting
const Vector3f angle_target = attitude_control.angle_ef_targets();
control_roll = angle_target.x;
control_pitch = angle_target.y;
control_yaw = angle_target.z;
}

6
ArduCopter/control_drift.pde
View File

@ -66,10 +66,4 @@ static void drift_run()
// call attitude controller
attitude_control.angleef_rp_rateef_y(target_roll, target_pitch, target_yaw_rate);
// re-fetch angle targets for reporting
const Vector3f angle_target = attitude_control.angle_ef_targets();
control_roll = angle_target.x;
control_pitch = angle_target.y;
control_yaw = angle_target.z;
}

6
ArduCopter/control_guided.pde
View File

@ -88,10 +88,4 @@ static void guided_run()
// roll, pitch from waypoint controller, yaw heading from auto_heading()
attitude_control.angleef_rpy(wp_nav.get_roll(), wp_nav.get_pitch(), get_auto_heading(),true);
}
// re-fetch angle targets for reporting
const Vector3f angle_target = attitude_control.angle_ef_targets();
control_roll = angle_target.x;
control_pitch = angle_target.y;
control_yaw = angle_target.z;
}

12
ArduCopter/control_land.pde
View File

@ -84,12 +84,6 @@ static void land_gps_run()
// update altitude target and call position controller
pos_control.set_alt_target_from_climb_rate(get_throttle_land(), G_Dt);
pos_control.update_z_controller();
// re-fetch angle targets for reporting
const Vector3f angle_target = attitude_control.angle_ef_targets();
control_roll = angle_target.x;
control_pitch = angle_target.y;
control_yaw = angle_target.z;
}
// land_nogps_run - runs the land controller
@ -136,12 +130,6 @@ static void land_nogps_run()
// call position controller
pos_control.set_alt_target_from_climb_rate(get_throttle_land(), G_Dt);
pos_control.update_z_controller();
// re-fetch angle targets for reporting
const Vector3f angle_target = attitude_control.angle_ef_targets();
control_roll = angle_target.x;
control_pitch = angle_target.y;
control_yaw = angle_target.z;
}
// get_throttle_land - high level landing logic

6
ArduCopter/control_loiter.pde
View File

@ -81,10 +81,4 @@ static void loiter_run()
pos_control.set_alt_target_from_climb_rate(target_climb_rate, G_Dt);
pos_control.update_z_controller();
}
// refetch angle targets for reporting
const Vector3f angle_target = attitude_control.angle_ef_targets();
control_roll = angle_target.x;
control_pitch = angle_target.y;
control_yaw = angle_target.z;
}

6
ArduCopter/control_ofloiter.pde
View File

@ -80,12 +80,6 @@ static void ofloiter_run()
pos_control.set_alt_target_from_climb_rate(target_climb_rate, G_Dt);
pos_control.update_z_controller();
}
// re-fetch angle targets for reporting
const Vector3f angle_target = attitude_control.angle_ef_targets();
control_roll = angle_target.x;
control_pitch = angle_target.y;
control_yaw = angle_target.z;
}

18
ArduCopter/control_rtl.pde
View File

@ -161,12 +161,6 @@ static void rtl_climb_return_descent_run()
// check if we've completed this stage of RTL
rtl_state_complete = wp_nav.reached_wp_destination();
// re-fetch angle targets for reporting
const Vector3f angle_target = attitude_control.angle_ef_targets();
control_roll = angle_target.x;
control_pitch = angle_target.y;
control_yaw = angle_target.z;
}
// rtl_return_start - initialise return to home
@ -225,12 +219,6 @@ static void rtl_loiterathome_run()
// check if we've completed this stage of RTL
// To-Do: add extra check that we've reached the target yaw
rtl_state_complete = ((millis() - rtl_loiter_start_time) > (uint32_t)g.rtl_loiter_time.get());
// re-fetch angle targets for reporting
const Vector3f angle_target = attitude_control.angle_ef_targets();
control_roll = angle_target.x;
control_pitch = angle_target.y;
control_yaw = angle_target.z;
}
// rtl_loiterathome_start - initialise controllers to loiter over home
@ -282,11 +270,5 @@ static void rtl_land_run()
// check if we've completed this stage of RTL
rtl_state_complete = ap.land_complete;
// re-fetch angle targets for reporting
const Vector3f angle_target = attitude_control.angle_ef_targets();
control_roll = angle_target.x;
control_pitch = angle_target.y;
control_yaw = angle_target.z;
}

6
ArduCopter/control_sport.pde
View File

@ -64,10 +64,4 @@ static void sport_run()
pos_control.set_alt_target_from_climb_rate(target_climb_rate, G_Dt);
pos_control.update_z_controller();
}
// re-fetch angle targets for reporting
const Vector3f angle_target = attitude_control.angle_ef_targets();
control_roll = angle_target.x;
control_pitch = angle_target.y;
control_yaw = angle_target.z;
}

6
ArduCopter/control_stabilize.pde
View File

@ -55,10 +55,4 @@ static void stabilize_run()
// output pilot's throttle
attitude_control.set_throttle_out(pilot_throttle_scaled, true);
// re-fetch angle targets for reporting
const Vector3f angle_target = attitude_control.angle_ef_targets();
control_roll = angle_target.x;
control_pitch = angle_target.y;
control_yaw = angle_target.z;
}

6
ArduCopter/heli_control_stabilize.pde
View File

@ -41,12 +41,6 @@ static void heli_stabilize_run()
// output pilot's throttle - note that TradHeli does not used angle-boost
attitude_control.set_throttle_out(pilot_throttle_scaled, false);
// re-fetch angle targets for reporting
const Vector3f angle_target = attitude_control.angle_ef_targets();
control_roll = angle_target.x;
control_pitch = angle_target.y;
control_yaw = angle_target.z;
}
#endif //HELI_FRAME