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Remove MT_ENABLED param and handles

This commit is contained in:
Lorenz Meier 2014-07-18 08:04:13 +02:00
parent f7c330fa60
commit 90a5ae1afd
3 changed files with 0 additions and 14 deletions
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1
src/modules/fw_pos_control_l1/mtecs/mTecs.cpp
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@ -49,7 +49,6 @@ namespace fwPosctrl {
mTecs::mTecs() : mTecs::mTecs() :
SuperBlock(NULL, "MT"), SuperBlock(NULL, "MT"),
/* Parameters */ /* Parameters */
_mTecsEnabled(this, "ENABLED"),
_airspeedMin(this, "FW_AIRSPD_MIN", false), _airspeedMin(this, "FW_AIRSPD_MIN", false),
/* Publications */ /* Publications */
_status(&getPublications(), ORB_ID(tecs_status)), _status(&getPublications(), ORB_ID(tecs_status)),

2
src/modules/fw_pos_control_l1/mtecs/mTecs.h
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@ -90,14 +90,12 @@ public:
void resetDerivatives(float airspeed); void resetDerivatives(float airspeed);
/* Accessors */ /* Accessors */
bool getEnabled() { return _mTecsEnabled.get() > 0; }
float getThrottleSetpoint() { return _throttleSp; } float getThrottleSetpoint() { return _throttleSp; }
float getPitchSetpoint() { return _pitchSp; } float getPitchSetpoint() { return _pitchSp; }
float airspeedLowpassUpdate(float input) { return _airspeedLowpass.update(input); } float airspeedLowpassUpdate(float input) { return _airspeedLowpass.update(input); }
protected: protected:
/* parameters */ /* parameters */
control::BlockParamInt _mTecsEnabled; /**< 1 if mTecs is enabled */
control::BlockParamFloat _airspeedMin; /**< minimal airspeed */ control::BlockParamFloat _airspeedMin; /**< minimal airspeed */
/* Publications */ /* Publications */

11
src/modules/fw_pos_control_l1/mtecs/mTecs_params.c
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@ -46,17 +46,6 @@
* Controller parameters, accessible via MAVLink * Controller parameters, accessible via MAVLink
*/ */
/**
* mTECS enabled
*
* Set to 1 to enable mTECS
*
* @min 0
* @max 1
* @group mTECS
*/
PARAM_DEFINE_INT32(MT_ENABLED, 1);
/** /**
* Total Energy Rate Control Feedforward * Total Energy Rate Control Feedforward
* Maps the total energy rate setpoint to the throttle setpoint * Maps the total energy rate setpoint to the throttle setpoint