From 4bf33339dc1b2b94b691adb5daccc2543d5af423 Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Wed, 28 Feb 2018 10:05:50 +0100
Subject: [PATCH] FlightTaskManualStabilized: remove double limit of yawspeed
The same paramater was used twice, once for scaling the yaw stick
and once for limitng just after. This was useless.
---
src/lib/FlightTasks/tasks/FlightTaskManualStabilized.cpp | 5 +----
src/lib/FlightTasks/tasks/FlightTaskManualStabilized.hpp | 1 -
2 files changed, 1 insertion(+), 5 deletions(-)
diff --git a/src/lib/FlightTasks/tasks/FlightTaskManualStabilized.cpp b/src/lib/FlightTasks/tasks/FlightTaskManualStabilized.cpp
index a4efbcb870..46d4fb5b3f 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskManualStabilized.cpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskManualStabilized.cpp
@@ -46,8 +46,7 @@ FlightTaskManualStabilized::FlightTaskManualStabilized(control::SuperBlock *pare
_tilt_max_man(parent, "MPC_MAN_TILT_MAX", false),
_throttle_min(parent, "MPC_THR_MIN", false),
_throttle_max(parent, "MPC_THR_MAX", false),
- _throttle_hover(parent, "MPC_THR_HOVER", false),
- _yaw_rate_max(parent, "MPC_MAN_Y_MAX", false)
+ _throttle_hover(parent, "MPC_THR_HOVER", false)
{}
bool FlightTaskManualStabilized::activate()
@@ -61,8 +60,6 @@ void FlightTaskManualStabilized::_scaleSticks()
/* Scale sticks to yaw and thrust using
* linear scale for yaw and piecewise linear map for thrust. */
_yawspeed_setpoint = _sticks(3) * math::radians(_yaw_rate_scaling.get());
- _yawspeed_setpoint = math::sign(_yawspeed_setpoint) * math::min(fabsf(_yawspeed_setpoint),
- math::radians(_yaw_rate_max.get()));
_throttle = _throttleCurve();
}
diff --git a/src/lib/FlightTasks/tasks/FlightTaskManualStabilized.hpp b/src/lib/FlightTasks/tasks/FlightTaskManualStabilized.hpp
index 921597a61a..0f6aa16986 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskManualStabilized.hpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskManualStabilized.hpp
@@ -71,5 +71,4 @@ private:
control::BlockParamFloat _throttle_min; /**< minimum throttle that always has to be satisfied in flight*/
control::BlockParamFloat _throttle_max; /**< maximum throttle that always has to be satisfied in flight*/
control::BlockParamFloat _throttle_hover; /**< throttle value at which vehicle is at hover equilibrium */
- control::BlockParamFloat _yaw_rate_max; /** manual maximum yawspeed */
};
--
GitLab