Fixed-wing: remove roll offset param (FW_RSP_OFF)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
PX4 · Feb 12, 2021 · 43cba8e · 43cba8e
1 parent 99c6b90
commit 43cba8e
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Showing 5 changed files with 1 addition and 24 deletions.
diff --git a/src/modules/fw_att_control/FixedwingAttitudeControl.cpp b/src/modules/fw_att_control/FixedwingAttitudeControl.cpp
@@ -157,9 +157,7 @@ FixedwingAttitudeControl::vehicle_manual_poll()
 				if (_vcontrol_mode.flag_control_attitude_enabled) {
 					// STABILIZED mode generate the attitude setpoint from manual user inputs
 
-					_att_sp.roll_body = _manual_control_setpoint.y * radians(_param_fw_man_r_max.get()) + radians(_param_fw_rsp_off.get());
-					_att_sp.roll_body = constrain(_att_sp.roll_body,
-								      -radians(_param_fw_man_r_max.get()), radians(_param_fw_man_r_max.get()));
+					_att_sp.roll_body = _manual_control_setpoint.y * radians(_param_fw_man_r_max.get());
 
 					_att_sp.pitch_body = -_manual_control_setpoint.x * radians(_param_fw_man_p_max.get())
 							     + radians(_param_fw_psp_off.get());

diff --git a/src/modules/fw_att_control/FixedwingAttitudeControl.hpp b/src/modules/fw_att_control/FixedwingAttitudeControl.hpp
@@ -193,7 +193,6 @@ class FixedwingAttitudeControl final : public ModuleBase<FixedwingAttitudeContro
 		(ParamFloat<px4::params::FW_RR_I>) _param_fw_rr_i,
 		(ParamFloat<px4::params::FW_RR_IMAX>) _param_fw_rr_imax,
 		(ParamFloat<px4::params::FW_RR_P>) _param_fw_rr_p,
-		(ParamFloat<px4::params::FW_RSP_OFF>) _param_fw_rsp_off,
 
 		(ParamBool<px4::params::FW_W_EN>) _param_fw_w_en,
 		(ParamFloat<px4::params::FW_W_RMAX>) _param_fw_w_rmax,

diff --git a/src/modules/fw_att_control/fw_att_control_params.c b/src/modules/fw_att_control/fw_att_control_params.c
@@ -413,22 +413,6 @@ PARAM_DEFINE_FLOAT(FW_YR_FF, 0.3f);
  */
 PARAM_DEFINE_FLOAT(FW_WR_FF, 0.2f);
 
-/**
- * Roll setpoint offset
- *
- * An airframe specific offset of the roll setpoint in degrees, the value is
- * added to the roll setpoint and should correspond to the typical cruise speed
- * of the airframe.
- *
- * @unit deg
- * @min -90.0
- * @max 90.0
- * @decimal 1
- * @increment 0.5
- * @group FW Attitude Control
- */
-PARAM_DEFINE_FLOAT(FW_RSP_OFF, 0.0f);
-
 /**
  * Pitch setpoint offset (pitch at level flight)
  *

diff --git a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
@@ -1715,9 +1715,6 @@ FixedwingPositionControl::Run()
 		if (control_position(_local_pos.timestamp, curr_pos, ground_speed, _pos_sp_triplet.previous, _pos_sp_triplet.current,
 				     _pos_sp_triplet.next)) {
 
-			// add attitude roll setpoint offset (pitch is handled earlier)
-			_att_sp.roll_body += radians(_param_fw_rsp_off.get());
-
 			if (_control_mode.flag_control_manual_enabled) {
 				_att_sp.roll_body = constrain(_att_sp.roll_body, -radians(_param_fw_man_r_max.get()),
 							      radians(_param_fw_man_r_max.get()));

diff --git a/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp b/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
@@ -413,7 +413,6 @@ class FixedwingPositionControl final : public ModuleBase<FixedwingPositionContro
 		(ParamInt<px4::params::FW_ARSP_MODE>) _param_fw_arsp_mode,
 
 		(ParamFloat<px4::params::FW_PSP_OFF>) _param_fw_psp_off,
-		(ParamFloat<px4::params::FW_RSP_OFF>) _param_fw_rsp_off,
 		(ParamFloat<px4::params::FW_MAN_P_MAX>) _param_fw_man_p_max,
 		(ParamFloat<px4::params::FW_MAN_R_MAX>) _param_fw_man_r_max,