From f9a3235709c4f2ed5438ccab813fd0e6154529aa Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Thu, 22 Nov 2018 17:43:33 -0500 Subject: [PATCH] remove unused parameter VT_AIRSPD_RULE (#10897) - fixes #10896 --- .../fw_att_control/FixedwingAttitudeControl.cpp | 3 --- .../fw_att_control/FixedwingAttitudeControl.hpp | 2 -- .../vtol_att_control/vtol_att_control_params.c | 11 ----------- 3 files changed, 16 deletions(-) diff --git a/src/modules/fw_att_control/FixedwingAttitudeControl.cpp b/src/modules/fw_att_control/FixedwingAttitudeControl.cpp index acc3e5bb9f..b03b8af9f0 100644 --- a/src/modules/fw_att_control/FixedwingAttitudeControl.cpp +++ b/src/modules/fw_att_control/FixedwingAttitudeControl.cpp @@ -119,7 +119,6 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() : // initialize to invalid VTOL type _parameters.vtol_type = -1; - _parameters.vtol_airspeed_rule = 0; /* fetch initial parameter values */ parameters_update(); @@ -241,7 +240,6 @@ FixedwingAttitudeControl::parameters_update() if (_vehicle_status.is_vtol) { param_get(_parameter_handles.vtol_type, &_parameters.vtol_type); - param_get(_parameter_handles.vtol_airspeed_rule, &_parameters.vtol_airspeed_rule); } param_get(_parameter_handles.bat_scale_en, &_parameters.bat_scale_en); @@ -439,7 +437,6 @@ FixedwingAttitudeControl::vehicle_status_poll() _attitude_setpoint_id = ORB_ID(fw_virtual_attitude_setpoint); _parameter_handles.vtol_type = param_find("VT_TYPE"); - _parameter_handles.vtol_airspeed_rule = param_find("VT_AIRSPD_RULE"); parameters_update(); diff --git a/src/modules/fw_att_control/FixedwingAttitudeControl.hpp b/src/modules/fw_att_control/FixedwingAttitudeControl.hpp index d9c414f78d..084c278ec9 100644 --- a/src/modules/fw_att_control/FixedwingAttitudeControl.hpp +++ b/src/modules/fw_att_control/FixedwingAttitudeControl.hpp @@ -202,7 +202,6 @@ private: float rattitude_thres; int32_t vtol_type; /**< VTOL type: 0 = tailsitter, 1 = tiltrotor */ - int32_t vtol_airspeed_rule; int32_t bat_scale_en; /**< Battery scaling enabled */ bool airspeed_disabled; @@ -272,7 +271,6 @@ private: param_t rattitude_thres; param_t vtol_type; - param_t vtol_airspeed_rule; param_t bat_scale_en; param_t airspeed_mode; diff --git a/src/modules/vtol_att_control/vtol_att_control_params.c b/src/modules/vtol_att_control/vtol_att_control_params.c index e8af9384fd..804936ebb2 100644 --- a/src/modules/vtol_att_control/vtol_att_control_params.c +++ b/src/modules/vtol_att_control/vtol_att_control_params.c @@ -314,14 +314,3 @@ PARAM_DEFINE_INT32(VT_FW_DIFTHR_EN, 0); * @group VTOL Attitude Control */ PARAM_DEFINE_FLOAT(VT_FW_DIFTHR_SC, 0.1f); - -/** - * Airspeed rules regarding fixed wing control surface scaling. - * - * @value 0 No special rules - * @value 1 During hover (excluding transitions) use the lowest possible airspeed value. - * @min 0.0 - * @increment 1 - * @group VTOL Attitude Control - */ -PARAM_DEFINE_INT32(VT_AIRSPD_RULE, 0);