From 742f7e496ee084988354bbb6c42bf080bb69f295 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Mon, 13 May 2013 16:29:19 +1000
Subject: [PATCH] Plane: removed new attitude controllers for 2.73 release
these will be back in 2.74
---
ArduPlane/Attitude.pde | 58 +++++++++-------------------------------
ArduPlane/Parameters.h | 3 ---
ArduPlane/Parameters.pde | 19 -------------
3 files changed, 13 insertions(+), 67 deletions(-)
diff --git a/ArduPlane/Attitude.pde b/ArduPlane/Attitude.pde
index 664236946..ec4247e73 100644
--- a/ArduPlane/Attitude.pde
+++ b/ArduPlane/Attitude.pde
@@ -77,18 +77,9 @@ static void stabilize_roll(float speed_scaler)
if (ahrs.roll_sensor < 0) nav_roll_cd -= 36000;
}
- switch (g.att_controller) {
- case ATT_CONTROL_APMCONTROL:
- // calculate roll and pitch control using new APM_Control library
- g.channel_roll.servo_out = g.rollController.get_servo_out(nav_roll_cd, speed_scaler, control_mode == STABILIZE, g.flybywire_airspeed_min);
- break;
-
- default:
- // Calculate dersired servo output for the roll
- // ---------------------------------------------
- g.channel_roll.servo_out = g.pidServoRoll.get_pid_4500((nav_roll_cd - ahrs.roll_sensor), speed_scaler);
- break;
- }
+ // Calculate dersired servo output for the roll
+ // ---------------------------------------------
+ g.channel_roll.servo_out = g.pidServoRoll.get_pid_4500((nav_roll_cd - ahrs.roll_sensor), speed_scaler);
}
/*
@@ -99,26 +90,13 @@ static void stabilize_roll(float speed_scaler)
static void stabilize_pitch(float speed_scaler)
{
int32_t demanded_pitch = nav_pitch_cd + g.pitch_trim_cd + g.channel_throttle.servo_out * g.kff_throttle_to_pitch;
- switch (g.att_controller) {
- case ATT_CONTROL_APMCONTROL: {
- g.channel_pitch.servo_out = g.pitchController.get_servo_out(demanded_pitch,
- speed_scaler,
- control_mode == STABILIZE,
- g.flybywire_airspeed_min, g.flybywire_airspeed_max);
- break;
- }
-
- default: {
- int32_t tempcalc = demanded_pitch - ahrs.pitch_sensor;
- tempcalc += fabsf(ahrs.roll_sensor * g.kff_pitch_compensation);
- if (abs(ahrs.roll_sensor) > 9000) {
- // when flying upside down the elevator control is inverted
- tempcalc = -tempcalc;
- }
- g.channel_pitch.servo_out = g.pidServoPitch.get_pid_4500(tempcalc, speed_scaler);
- break;
- }
+ int32_t tempcalc = demanded_pitch - ahrs.pitch_sensor;
+ tempcalc += fabsf(ahrs.roll_sensor * g.kff_pitch_compensation);
+ if (abs(ahrs.roll_sensor) > 9000) {
+ // when flying upside down the elevator control is inverted
+ tempcalc = -tempcalc;
}
+ g.channel_pitch.servo_out = g.pidServoPitch.get_pid_4500(tempcalc, speed_scaler);
}
/*
@@ -346,20 +324,10 @@ static void calc_nav_yaw(float speed_scaler, float ch4_inf)
return;
}
- switch (g.att_controller) {
- case ATT_CONTROL_APMCONTROL:
- g.channel_rudder.servo_out = g.yawController.get_servo_out(speed_scaler,
- control_mode == STABILIZE,
- g.flybywire_airspeed_min, g.flybywire_airspeed_max);
- break;
-
- default:
- // a PID to coordinate the turn (drive y axis accel to zero)
- float temp_y = ins.get_accel().y;
- int32_t error = -temp_y * 100.0f;
- g.channel_rudder.servo_out = g.pidServoRudder.get_pid_4500(error, speed_scaler);
- break;
- }
+ // a PID to coordinate the turn (drive y axis accel to zero)
+ float temp_y = ins.get_accel().y;
+ int32_t error = -temp_y * 100.0f;
+ g.channel_rudder.servo_out = g.pidServoRudder.get_pid_4500(error, speed_scaler);
// add in rudder mixing from roll
g.channel_rudder.servo_out += g.channel_roll.servo_out * g.kff_rudder_mix;
diff --git a/ArduPlane/Parameters.h b/ArduPlane/Parameters.h
index 978c4f26e..53baa599c 100644
--- a/ArduPlane/Parameters.h
+++ b/ArduPlane/Parameters.h
@@ -264,9 +264,6 @@ public:
// navigation controller type. See AP_Navigation::ControllerType
AP_Int8 nav_controller;
- // attitude controller type.
- AP_Int8 att_controller;
-
// Estimation
//
AP_Float altitude_mix;
diff --git a/ArduPlane/Parameters.pde b/ArduPlane/Parameters.pde
index 0123e2eee..699ce9db7 100644
--- a/ArduPlane/Parameters.pde
+++ b/ArduPlane/Parameters.pde
@@ -138,13 +138,6 @@ const AP_Param::Info var_info[] PROGMEM = {
// @User: Standard
GSCALAR(nav_controller, "NAV_CONTROLLER", AP_Navigation::CONTROLLER_L1),
- // @Param: ATT_CONTROLLER
- // @DisplayName: Attitude controller selection
- // @Description: Which attitude (roll, pitch, yaw) controller to enable
- // @Values: 0:PID,1:APMControl
- // @User: Standard
- GSCALAR(att_controller, "ATT_CONTROLLER", ATT_CONTROL_PID),
-
// @Param: ALT_MIX
// @DisplayName: Gps to Baro Mix
// @Description: The percent of mixing between gps altitude and baro altitude. 0 = 100% gps, 1 = 100% baro
@@ -691,18 +684,6 @@ const AP_Param::Info var_info[] PROGMEM = {
GGROUP(pidServoPitch, "PTCH2SRV_", PID),
GGROUP(pidServoRudder, "YW2SRV_", PID),
- // @Group: CTL_RLL_
- // @Path: ../libraries/APM_Control/AP_RollController.cpp
- GGROUP(rollController, "CTL_RLL_", AP_RollController),
-
- // @Group: CTL_PTCH_
- // @Path: ../libraries/APM_Control/AP_PitchController.cpp
- GGROUP(pitchController, "CTL_PTCH_", AP_PitchController),
-
- // @Group: CTL_YAW_
- // @Path: ../libraries/APM_Control/AP_YawController.cpp
- GGROUP(yawController, "CTL_YAW_", AP_YawController),
-
// variables not in the g class which contain EEPROM saved variables
// @Group: COMPASS_
--
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