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px4-firmware
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fw att ctrl: remove renamed parameters

This commit is contained in:
Thomas Gubler 2013-12-29 16:35:52 +01:00
parent 70cc5413b4
commit 6a9423b428
8 changed files with 0 additions and 39 deletions
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1
src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
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@ -52,7 +52,6 @@ ECL_PitchController::ECL_PitchController() :
_tc(0.1f),
_k_p(0.0f),
_k_i(0.0f),
_k_d(0.0f),
_k_ff(0.0f),
_integrator_max(0.0f),
_max_rate_pos(0.0f),

4
src/lib/ecl/attitude_fw/ecl_pitch_controller.h
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@ -77,9 +77,6 @@ public:
void set_k_i(float k_i) {
_k_i = k_i;
}
void set_k_d(float k_d) {
_k_d = k_d;
}
void set_k_ff(float k_ff) {
_k_ff = k_ff;
@ -119,7 +116,6 @@ private:
float _tc;
float _k_p;
float _k_i;
float _k_d;
float _k_ff;
float _integrator_max;
float _max_rate_pos;

1
src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
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@ -52,7 +52,6 @@ ECL_RollController::ECL_RollController() :
_tc(0.1f),
_k_p(0.0f),
_k_i(0.0f),
_k_d(0.0f),
_k_ff(0.0f),
_integrator_max(0.0f),
_max_rate(0.0f),

5
src/lib/ecl/attitude_fw/ecl_roll_controller.h
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@ -80,10 +80,6 @@ public:
_k_i = k_i;
}
void set_k_d(float k_d) {
_k_d = k_d;
}
void set_k_ff(float k_ff) {
_k_ff = k_ff;
}
@ -113,7 +109,6 @@ private:
float _tc;
float _k_p;
float _k_i;
float _k_d;
float _k_ff;
float _integrator_max;
float _max_rate;

1
src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp
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@ -50,7 +50,6 @@ ECL_YawController::ECL_YawController() :
_last_run(0),
_k_p(0.0f),
_k_i(0.0f),
_k_d(0.0f),
_k_ff(0.0f),
_integrator_max(0.0f),
_max_rate(0.0f),

5
src/lib/ecl/attitude_fw/ecl_yaw_controller.h
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@ -75,10 +75,6 @@ public:
_k_i = k_i;
}
void set_k_d(float k_d) {
_k_d = k_d;
}
void set_k_ff(float k_ff) {
_k_ff = k_ff;
}
@ -116,7 +112,6 @@ private:
uint64_t _last_run;
float _k_p;
float _k_i;
float _k_d;
float _k_ff;
float _integrator_max;
float _max_rate;

9
src/modules/fw_att_control/fw_att_control_main.cpp
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@ -310,7 +310,6 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
_parameter_handles.tconst = param_find("FW_ATT_TC");
_parameter_handles.p_p = param_find("FW_PR_P");
_parameter_handles.p_d = param_find("FW_PR_D");
_parameter_handles.p_i = param_find("FW_PR_I");
_parameter_handles.p_ff = param_find("FW_PR_FF");
_parameter_handles.p_rmax_pos = param_find("FW_P_RMAX_POS");
@ -319,7 +318,6 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
_parameter_handles.p_roll_feedforward = param_find("FW_P_ROLLFF");
_parameter_handles.r_p = param_find("FW_RR_P");
_parameter_handles.r_d = param_find("FW_RR_D");
_parameter_handles.r_i = param_find("FW_RR_I");
_parameter_handles.r_ff = param_find("FW_RR_FF");
_parameter_handles.r_integrator_max = param_find("FW_RR_IMAX");
@ -327,7 +325,6 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
_parameter_handles.y_p = param_find("FW_YR_P");
_parameter_handles.y_i = param_find("FW_YR_I");
_parameter_handles.y_d = param_find("FW_YR_D");
_parameter_handles.y_ff = param_find("FW_YR_FF");
_parameter_handles.y_roll_feedforward = param_find("FW_Y_ROLLFF");
_parameter_handles.y_integrator_max = param_find("FW_YR_IMAX");
@ -374,7 +371,6 @@ FixedwingAttitudeControl::parameters_update()
param_get(_parameter_handles.tconst, &(_parameters.tconst));
param_get(_parameter_handles.p_p, &(_parameters.p_p));
param_get(_parameter_handles.p_d, &(_parameters.p_d));
param_get(_parameter_handles.p_i, &(_parameters.p_i));
param_get(_parameter_handles.p_ff, &(_parameters.p_ff));
param_get(_parameter_handles.p_rmax_pos, &(_parameters.p_rmax_pos));
@ -383,7 +379,6 @@ FixedwingAttitudeControl::parameters_update()
param_get(_parameter_handles.p_roll_feedforward, &(_parameters.p_roll_feedforward));
param_get(_parameter_handles.r_p, &(_parameters.r_p));
param_get(_parameter_handles.r_d, &(_parameters.r_d));
param_get(_parameter_handles.r_i, &(_parameters.r_i));
param_get(_parameter_handles.r_ff, &(_parameters.r_ff));
@ -392,7 +387,6 @@ FixedwingAttitudeControl::parameters_update()
param_get(_parameter_handles.y_p, &(_parameters.y_p));
param_get(_parameter_handles.y_i, &(_parameters.y_i));
param_get(_parameter_handles.y_d, &(_parameters.y_d));
param_get(_parameter_handles.y_ff, &(_parameters.y_ff));
param_get(_parameter_handles.y_roll_feedforward, &(_parameters.y_roll_feedforward));
param_get(_parameter_handles.y_integrator_max, &(_parameters.y_integrator_max));
@ -407,7 +401,6 @@ FixedwingAttitudeControl::parameters_update()
_pitch_ctrl.set_time_constant(_parameters.tconst);
_pitch_ctrl.set_k_p(_parameters.p_p);
_pitch_ctrl.set_k_i(_parameters.p_i);
_pitch_ctrl.set_k_d(_parameters.p_d);
_pitch_ctrl.set_k_ff(_parameters.p_ff);
_pitch_ctrl.set_integrator_max(_parameters.p_integrator_max);
_pitch_ctrl.set_max_rate_pos(math::radians(_parameters.p_rmax_pos));
@ -418,7 +411,6 @@ FixedwingAttitudeControl::parameters_update()
_roll_ctrl.set_time_constant(_parameters.tconst);
_roll_ctrl.set_k_p(_parameters.r_p);
_roll_ctrl.set_k_i(_parameters.r_i);
_roll_ctrl.set_k_d(_parameters.r_d);
_roll_ctrl.set_k_ff(_parameters.r_ff);
_roll_ctrl.set_integrator_max(_parameters.r_integrator_max);
_roll_ctrl.set_max_rate(math::radians(_parameters.r_rmax));
@ -426,7 +418,6 @@ FixedwingAttitudeControl::parameters_update()
/* yaw control parameters */
_yaw_ctrl.set_k_p(_parameters.y_p);
_yaw_ctrl.set_k_i(_parameters.y_i);
_yaw_ctrl.set_k_d(_parameters.y_d);
_yaw_ctrl.set_k_ff(_parameters.y_ff);
_yaw_ctrl.set_k_roll_ff(_parameters.y_roll_feedforward);
_yaw_ctrl.set_integrator_max(_parameters.y_integrator_max);

13
src/modules/fw_att_control/fw_att_control_params.c
View File

@ -60,11 +60,6 @@ PARAM_DEFINE_FLOAT(FW_ATT_TC, 0.5f);
// @Range 10 to 200, 1 increments
PARAM_DEFINE_FLOAT(FW_PR_P, 0.05f);
// @DisplayName Damping gain.
// @Description This gain damps the airframe pitch rate. In particular relevant for flying wings.
// @Range 0.0 to 10.0, 0.1 increments
PARAM_DEFINE_FLOAT(FW_PR_D, 0.0f); //xxx: remove
// @DisplayName Pitch rate integrator gain.
// @Description This gain defines how much control response will result out of a steady state error. It trims any constant error.
// @Range 0 to 50.0
@ -100,13 +95,6 @@ PARAM_DEFINE_FLOAT(FW_P_ROLLFF, 0.0f);
// @User User
PARAM_DEFINE_FLOAT(FW_RR_P, 0.05f);
// @DisplayName Damping Gain
// @Description Controls the roll rate to roll actuator output. It helps to reduce motions in turbulence.
// @Range 0.0 10.0
// @Increment 1.0
// @User User
PARAM_DEFINE_FLOAT(FW_RR_D, 0.0f); //xxx: remove
// @DisplayName Roll rate integrator Gain
// @Description This gain defines how much control response will result out of a steady state error. It trims any constant error.
// @Range 0.0 100.0
@ -142,7 +130,6 @@ PARAM_DEFINE_FLOAT(FW_YR_I, 0.0f);
// @Increment 0.1
PARAM_DEFINE_FLOAT(FW_YR_IMAX, 0.2f);
PARAM_DEFINE_FLOAT(FW_YR_D, 0); //xxx: remove
PARAM_DEFINE_FLOAT(FW_Y_ROLLFF, 0); //xxx: remove
// @DisplayName Maximum Yaw Rate