remove airspeed

paparazzi · Nov 6, 2023 · 021b1c6 · 021b1c6
1 parent e6bfa87
commit 021b1c6
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Showing 3 changed files with 6 additions and 19 deletions.
diff --git a/conf/modules/wing_rotation_controller_servo.xml b/conf/modules/wing_rotation_controller_servo.xml
@@ -17,7 +17,6 @@
         <dl_setting MAX="90" MIN="0" STEP="1" VAR="wing_rotation_controller.wing_angle_deg_sp" shortname="wing_sp_deg"/>
         <dl_setting MAX="1" MIN="0" STEP="1" VAR="wing_rotation_controller.airspeed_scheduling" shortname="airspeed_sched"/>
         <dl_setting MAX="1" MIN="0" STEP="1" VAR="wing_rotation_controller.force_rotation_angle" shortname="force_skew"/>
-        <dl_setting MAX="18" MIN="14" STEP="0.1" VAR="wing_rotation_controller.forward_airspeed" shortname="forward_airspeed"/>
         <dl_setting MAX="0.01" MIN="0" STEP="0.0001" VAR="wing_rotation_controller.wing_rotation_first_order_dynamics" shortname="first_dyn"/>
         <dl_setting MAX="0.01" MIN="0" STEP="0.0001" VAR="wing_rotation_controller.wing_rotation_second_order_dynamics" shortname="second_dyn"/>
       </dl_settings>
@@ -33,6 +32,7 @@
     <configure name="ADC_CHANNEL_WING_ROTATION_CONTROLLER_POSITION" default="ADC_5" case="lower|upper"/>
     <define name="ADC_CHANNEL_WING_ROTATION_CONTROLLER_POSITION" value="$(ADC_CHANNEL_WING_ROTATION_CONTROLLER_POSITION_UPPER)"/>
     <define name="USE_$(ADC_CHANNEL_WING_ROTATION_CONTROLLER_POSITION_UPPER)"/>
+    <define name="USE_WING_ROTATION_CONTROLLER_SERVO"/>
     <file name="wing_rotation_controller_servo.c"/>
   </makefile>
 </module>
diff --git a/sw/airborne/modules/rot_wing_drone/wing_rotation_controller_servo.c b/sw/airborne/modules/rot_wing_drone/wing_rotation_controller_servo.c
@@ -90,7 +90,6 @@ void wing_rotation_init(void)
   wing_rotation_controller.wing_angle_virtual_deg_sp = 45;
   wing_rotation_controller.wing_rotation_first_order_dynamics = WING_ROTATION_CONTROLLER_FIRST_DYN;
   wing_rotation_controller.wing_rotation_second_order_dynamics = WING_ROTATION_CONTROLLER_SECOND_DYN;
-  wing_rotation_controller.forward_airspeed = 18.;
 }
 
 void wing_rotation_periodic(void)
@@ -117,14 +116,6 @@ void wing_rotation_event(void)
   }
 #endif
 
-  if (guidance_h.mode == GUIDANCE_H_MODE_FORWARD) {
-    set_wing_rotation_scheduler(true);
-  } else if (guidance_h.mode == GUIDANCE_H_MODE_ATTITUDE) {
-    set_wing_rotation_scheduler(false);
-  } else if (guidance_h.mode == GUIDANCE_H_MODE_NAV) {
-    set_wing_rotation_scheduler(wing_rotation_controller.airspeed_scheduling_nav);
-  }
-
   if (!wing_rotation_controller.airspeed_scheduling) {
     wing_rotation_controller.transition_forward = false;
   }
@@ -166,11 +157,15 @@ void wing_rotation_event(void)
 void wing_rotation_adc_to_deg(void)
 {
 #if !USE_NPS
+#if ROTWING_V3B
   wing_rotation_controller.adc_wing_rotation = buf_wing_rot_pos.sum / buf_wing_rot_pos.av_nb_sample;
 
   wing_rotation_controller.wing_angle_deg = 0.00247111 * (float)wing_rotation_controller.adc_wing_rotation - 25.635294;
-
 #else
+wing_rotation_controller.wing_angle_deg = 0;
+#endif // ROTWING_V3B
+
+#else // !USE_NPS
   // Copy setpoint as actual angle in simulation
   wing_rotation_controller.wing_angle_deg = wing_rotation_controller.wing_angle_virtual_deg_sp;
 #endif
@@ -213,9 +208,3 @@ bool set_wing_rotation_scheduler(bool rotation_scheduler_on)
   }
   return false;
 }
-
-bool set_wing_rotation_scheduler_nav(bool rotation_scheduler_on)
-{
-  wing_rotation_controller.airspeed_scheduling_nav = rotation_scheduler_on;
-  return false;
-}
diff --git a/sw/airborne/modules/rot_wing_drone/wing_rotation_controller_servo.h b/sw/airborne/modules/rot_wing_drone/wing_rotation_controller_servo.h
@@ -47,10 +47,8 @@ struct wing_rotation_controller_t {
   bool initialized;
   uint8_t init_loop_count;
   bool airspeed_scheduling;
-  bool airspeed_scheduling_nav;
   bool force_rotation_angle;
   bool transition_forward;
-  float forward_airspeed;
 };
 
 extern struct wing_rotation_controller_t wing_rotation_controller;