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px4-firmware
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fw autoland: remove confusing slopelength parameter

This commit is contained in:
Thomas Gubler 2014-02-19 21:48:54 +01:00
parent 3508a42f6a
commit 6480c6a2ce
2 changed files with 1 additions and 12 deletions
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6
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
View File

@ -233,7 +233,6 @@ private:
float speedrate_p;
float land_slope_angle;
float land_slope_length;
float land_H1_virt;
float land_flare_alt_relative;
float land_thrust_lim_alt_relative;
@ -278,7 +277,6 @@ private:
param_t speedrate_p;
param_t land_slope_angle;
param_t land_slope_length;
param_t land_H1_virt;
param_t land_flare_alt_relative;
param_t land_thrust_lim_alt_relative;
@ -431,7 +429,6 @@ FixedwingPositionControl::FixedwingPositionControl() :
_parameter_handles.throttle_land_max = param_find("FW_THR_LND_MAX");
_parameter_handles.land_slope_angle = param_find("FW_LND_ANG");
_parameter_handles.land_slope_length = param_find("FW_LND_SLLR");
_parameter_handles.land_H1_virt = param_find("FW_LND_HVIRT");
_parameter_handles.land_flare_alt_relative = param_find("FW_LND_FLALT");
_parameter_handles.land_thrust_lim_alt_relative = param_find("FW_LND_TLALT");
@ -520,7 +517,6 @@ FixedwingPositionControl::parameters_update()
param_get(_parameter_handles.speedrate_p, &(_parameters.speedrate_p));
param_get(_parameter_handles.land_slope_angle, &(_parameters.land_slope_angle));
param_get(_parameter_handles.land_slope_length, &(_parameters.land_slope_length));
param_get(_parameter_handles.land_H1_virt, &(_parameters.land_H1_virt));
param_get(_parameter_handles.land_flare_alt_relative, &(_parameters.land_flare_alt_relative));
param_get(_parameter_handles.land_thrust_lim_alt_relative, &(_parameters.land_thrust_lim_alt_relative));
@ -889,7 +885,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
float airspeed_land = 1.3f * _parameters.airspeed_min;
float airspeed_approach = 1.3f * _parameters.airspeed_min;
float L_wp_distance = get_distance_to_next_waypoint(prev_wp(0), prev_wp(1), curr_wp(0), curr_wp(1)) * _parameters.land_slope_length;
float L_wp_distance = get_distance_to_next_waypoint(prev_wp(0), prev_wp(1), curr_wp(0), curr_wp(1)) * 0.9f;
float L_altitude = landingslope.getLandingSlopeAbsoluteAltitude(L_wp_distance, _pos_sp_triplet.current.alt);
float bearing_airplane_currwp = get_bearing_to_next_waypoint(current_position(0), current_position(1), curr_wp(0), curr_wp(1));
float landing_slope_alt_desired = landingslope.getLandingSlopeAbsoluteAltitudeSave(wp_distance, bearing_lastwp_currwp, bearing_airplane_currwp, _pos_sp_triplet.current.alt);

7
src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
View File

@ -348,13 +348,6 @@ PARAM_DEFINE_FLOAT(FW_T_SRATE_P, 0.05f);
*/
PARAM_DEFINE_FLOAT(FW_LND_ANG, 5.0f);
/**
* Landing slope length
*
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_LND_SLLR, 0.9f);
/**
*
*