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Copter: remove climb_rate cache of inertial_nav.get_velocity_z

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There were only two users of it and dozens of places using
get_velocity_z
This commit is contained in:
Peter Barker 2019-03-28 10:03:56 +11:00 committed by Peter Barker
parent fb544cab78
commit 8441542a52
4 changed files with 2 additions and 7 deletions
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2
ArduCopter/Attitude.cpp
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@ -56,7 +56,7 @@ void Copter::update_throttle_hover()
float throttle = motors->get_throttle(); float throttle = motors->get_throttle();
// calc average throttle if we are in a level hover // calc average throttle if we are in a level hover
if (throttle > 0.0f && abs(climb_rate) < 60 && labs(ahrs.roll_sensor) < 500 && labs(ahrs.pitch_sensor) < 500) { if (throttle > 0.0f && abs(inertial_nav.get_velocity_z()) < 60 && labs(ahrs.roll_sensor) < 500 && labs(ahrs.pitch_sensor) < 500) {
// Can we set the time constant automatically // Can we set the time constant automatically
motors->update_throttle_hover(0.01f); motors->update_throttle_hover(0.01f);
} }

2
ArduCopter/Copter.h
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@ -402,8 +402,6 @@ private:
#endif #endif
// Altitude // Altitude
// The cm/s we are moving up or down based on filtered data - Positive = UP
int16_t climb_rate;
float target_rangefinder_alt; // desired altitude in cm above the ground float target_rangefinder_alt; // desired altitude in cm above the ground
bool target_rangefinder_alt_used; // true if mode is using target_rangefinder_alt bool target_rangefinder_alt_used; // true if mode is using target_rangefinder_alt
int32_t baro_alt; // barometer altitude in cm above home int32_t baro_alt; // barometer altitude in cm above home

2
ArduCopter/Log.cpp
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@ -59,7 +59,7 @@ void Copter::Log_Write_Control_Tuning()
rangefinder_alt : rangefinder_state.alt_cm, rangefinder_alt : rangefinder_state.alt_cm,
terr_alt : terr_alt, terr_alt : terr_alt,
target_climb_rate : target_climb_rate_cms, target_climb_rate : target_climb_rate_cms,
climb_rate : climb_rate climb_rate : int16_t(inertial_nav.get_velocity_z()) // float -> int16_t
}; };
logger.WriteBlock(&pkt, sizeof(pkt)); logger.WriteBlock(&pkt, sizeof(pkt));
} }

3
ArduCopter/inertia.cpp
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@ -24,7 +24,4 @@ void Copter::read_inertia()
} }
current_loc.set_alt_cm(inertial_nav.get_altitude(), frame); current_loc.set_alt_cm(inertial_nav.get_altitude(), frame);
current_loc.change_alt_frame(Location::AltFrame::ABOVE_HOME); current_loc.change_alt_frame(Location::AltFrame::ABOVE_HOME);
// set flags and get velocity
climb_rate = inertial_nav.get_velocity_z();
} }