FW delete unused yaw coordination parameters

PX4 · Jan 3, 2018 · c7b5a6f · c7b5a6f
1 parent 757d905
commit c7b5a6f
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Showing 2 changed files with 0 additions and 43 deletions.
diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp
@@ -176,9 +176,7 @@ class FixedwingAttitudeControl
 		float y_i;
 		float y_ff;
 		float y_integrator_max;
-		float y_coordinated_min_speed;
 		float roll_to_yaw_ff;
-		int32_t y_coordinated_method;
 		float y_rmax;
 
 		bool w_en;
@@ -239,9 +237,7 @@ class FixedwingAttitudeControl
 		param_t y_i;
 		param_t y_ff;
 		param_t y_integrator_max;
-		param_t y_coordinated_min_speed;
 		param_t roll_to_yaw_ff;
-		param_t y_coordinated_method;
 		param_t y_rmax;
 
 		param_t w_en;
@@ -436,9 +432,6 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
 	_parameter_handles.airspeed_trim = param_find("FW_AIRSPD_TRIM");
 	_parameter_handles.airspeed_max = param_find("FW_AIRSPD_MAX");
 
-	_parameter_handles.y_coordinated_min_speed = param_find("FW_YCO_VMIN");
-	_parameter_handles.y_coordinated_method = param_find("FW_YCO_METHOD");
-
 	_parameter_handles.trim_roll = param_find("TRIM_ROLL");
 	_parameter_handles.trim_pitch = param_find("TRIM_PITCH");
 	_parameter_handles.trim_yaw = param_find("TRIM_YAW");
@@ -519,8 +512,6 @@ FixedwingAttitudeControl::parameters_update()
 	param_get(_parameter_handles.y_i, &(_parameters.y_i));
 	param_get(_parameter_handles.y_ff, &(_parameters.y_ff));
 	param_get(_parameter_handles.y_integrator_max, &(_parameters.y_integrator_max));
-	param_get(_parameter_handles.y_coordinated_min_speed, &(_parameters.y_coordinated_min_speed));
-	param_get(_parameter_handles.y_coordinated_method, &(_parameters.y_coordinated_method));
 	param_get(_parameter_handles.y_rmax, &(_parameters.y_rmax));
 	param_get(_parameter_handles.roll_to_yaw_ff, &(_parameters.roll_to_yaw_ff));
 
@@ -593,8 +584,6 @@ FixedwingAttitudeControl::parameters_update()
 	_yaw_ctrl.set_k_i(_parameters.y_i);
 	_yaw_ctrl.set_k_ff(_parameters.y_ff);
 	_yaw_ctrl.set_integrator_max(_parameters.y_integrator_max);
-	_yaw_ctrl.set_coordinated_min_speed(_parameters.y_coordinated_min_speed);
-	_yaw_ctrl.set_coordinated_method(_parameters.y_coordinated_method);
 	_yaw_ctrl.set_max_rate(math::radians(_parameters.y_rmax));
 
 	/* wheel control parameters */
@@ -1044,8 +1033,6 @@ FixedwingAttitudeControl::task_main()
 				control_input.groundspeed = groundspeed;
 				control_input.groundspeed_scaler = groundspeed_scaler;
 
-				_yaw_ctrl.set_coordinated_method(_parameters.y_coordinated_method);
-
 				/* Run attitude controllers */
 				if (_vcontrol_mode.flag_control_attitude_enabled) {
 					if (PX4_ISFINITE(roll_sp) && PX4_ISFINITE(pitch_sp)) {

diff --git a/src/modules/fw_att_control/fw_att_control_params.c b/src/modules/fw_att_control/fw_att_control_params.c
@@ -413,36 +413,6 @@ PARAM_DEFINE_FLOAT(FW_YR_FF, 0.3f);
  */
 PARAM_DEFINE_FLOAT(FW_WR_FF, 0.2f);
 
-/**
- * Minimal speed for yaw coordination
- *
- * For airspeeds above this value, the yaw rate is calculated for a coordinated
- * turn. Set to a very high value to disable.
- *
- * @unit m/s
- * @min 0.0
- * @max 1000.0
- * @decimal 1
- * @increment 0.5
- * @group FW Attitude Control
- */
-PARAM_DEFINE_FLOAT(FW_YCO_VMIN, 1000.0f);
-
-/**
- * Method used for yaw coordination
- *
- * The param value sets the method used to calculate the yaw rate
- * 0: open-loop zero lateral acceleration based on kinematic constraints
- * 1: closed-loop: try to reduce lateral acceleration to 0 by measuring the acceleration
- *
- * @min 0
- * @max 1
- * @value 0 open-loop
- * @value 1 closed-loop
- * @group FW Attitude Control
- */
-PARAM_DEFINE_INT32(FW_YCO_METHOD, 0);
-
 /**
  * Roll setpoint offset
  *