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delete VT_FW_PITCH_TRIM parameter #9014

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merged 1 commit into from
Mar 7, 2018
Merged

delete VT_FW_PITCH_TRIM parameter #9014

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2 changes: 1 addition & 1 deletion src/modules/vtol_att_control/tailsitter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -316,7 +316,7 @@ void Tailsitter::fill_actuator_outputs()
_actuators_out_1->control[actuator_controls_s::INDEX_ROLL] =
-_actuators_fw_in->control[actuator_controls_s::INDEX_ROLL]; // roll elevon
_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] =
_actuators_fw_in->control[actuator_controls_s::INDEX_PITCH] + _params->fw_pitch_trim; // pitch elevon
_actuators_fw_in->control[actuator_controls_s::INDEX_PITCH]; // pitch elevon
_actuators_out_1->control[actuator_controls_s::INDEX_YAW] =
_actuators_fw_in->control[actuator_controls_s::INDEX_YAW]; // yaw
_actuators_out_1->control[actuator_controls_s::INDEX_THROTTLE] =
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2 changes: 1 addition & 1 deletion src/modules/vtol_att_control/tiltrotor.cpp
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Expand Up @@ -409,7 +409,7 @@ void Tiltrotor::fill_actuator_outputs()
_actuators_out_1->control[actuator_controls_s::INDEX_ROLL] =
-_actuators_fw_in->control[actuator_controls_s::INDEX_ROLL];
_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] =
(_actuators_fw_in->control[actuator_controls_s::INDEX_PITCH] + _params->fw_pitch_trim);
(_actuators_fw_in->control[actuator_controls_s::INDEX_PITCH]);
_actuators_out_1->control[actuator_controls_s::INDEX_YAW] =
_actuators_fw_in->control[actuator_controls_s::INDEX_YAW]; // yaw
_actuators_out_1->control[4] = _tilt_control;
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5 changes: 0 additions & 5 deletions src/modules/vtol_att_control/vtol_att_control_main.cpp
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Expand Up @@ -67,7 +67,6 @@ VtolAttitudeControl::VtolAttitudeControl()
_params_handles.idle_pwm_mc = param_find("VT_IDLE_PWM_MC");
_params_handles.vtol_motor_count = param_find("VT_MOT_COUNT");
_params_handles.vtol_fw_permanent_stab = param_find("VT_FW_PERM_STAB");
_params_handles.fw_pitch_trim = param_find("VT_FW_PITCH_TRIM");
_params_handles.vtol_type = param_find("VT_TYPE");
_params_handles.elevons_mc_lock = param_find("VT_ELEV_MC_LOCK");
_params_handles.fw_min_alt = param_find("VT_FW_MIN_ALT");
Expand Down Expand Up @@ -450,10 +449,6 @@ VtolAttitudeControl::parameters_update()
param_get(_params_handles.vtol_fw_permanent_stab, &l);
_vtol_vehicle_status.fw_permanent_stab = (l == 1);

/* vtol pitch trim for fw mode */
param_get(_params_handles.fw_pitch_trim, &v);
_params.fw_pitch_trim = v;

param_get(_params_handles.vtol_type, &l);
_params.vtol_type = l;

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1 change: 0 additions & 1 deletion src/modules/vtol_att_control/vtol_att_control_main.h
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Expand Up @@ -180,7 +180,6 @@ class VtolAttitudeControl
param_t idle_pwm_mc;
param_t vtol_motor_count;
param_t vtol_fw_permanent_stab;
param_t fw_pitch_trim;
param_t vtol_type;
param_t elevons_mc_lock;
param_t fw_min_alt;
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13 changes: 0 additions & 13 deletions src/modules/vtol_att_control/vtol_att_control_params.c
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Expand Up @@ -73,19 +73,6 @@ PARAM_DEFINE_INT32(VT_IDLE_PWM_MC, 900);
*/
PARAM_DEFINE_INT32(VT_FW_PERM_STAB, 0);

/**
* Fixed wing pitch trim
*
* This parameter allows to adjust the neutral elevon position in fixed wing mode.
*
* @min -1.0
* @max 1.0
* @increment 0.01
* @decimal 2
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VT_FW_PITCH_TRIM, 0.0f);

/**
* VTOL Type (Tailsitter=0, Tiltrotor=1, Standard=2)
*
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1 change: 0 additions & 1 deletion src/modules/vtol_att_control/vtol_type.h
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Expand Up @@ -49,7 +49,6 @@
struct Params {
int32_t idle_pwm_mc; // pwm value for idle in mc mode
int32_t vtol_motor_count; // number of motors
float fw_pitch_trim; // trim for neutral elevon position in fw mode
int32_t vtol_type;
bool elevons_mc_lock; // lock elevons in multicopter mode
float fw_min_alt; // minimum relative altitude for FW mode (QuadChute)
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