[stab] remove feed-forward gain AGAIN, was not really useful

paparazzi · Jul 12, 2012 · 81e8d2f · 81e8d2f
1 parent 99108cf
commit 81e8d2f
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Showing 3 changed files with 3 additions and 15 deletions.
diff --git a/conf/settings/control/stabilization_att_int.xml b/conf/settings/control/stabilization_att_int.xml
@@ -8,17 +8,14 @@
       <dl_setting var="stabilization_gains.d.x" min="1" step="1" max="4000"   module="stabilization/stabilization_attitude" shortname="dgain p" param="STABILIZATION_ATTITUDE_PHI_DGAIN"/>
       <dl_setting var="stabilization_gains.i.x" min="0" step="1" max="800"    module="stabilization/stabilization_attitude" shortname="igain phi" handler="SetKiPhi"param="STABILIZATION_ATTITUDE_PHI_IGAIN" />
       <dl_setting var="stabilization_gains.dd.x" min="0" step="1" max="1000" module="stabilization/stabilization_attitude" shortname="ddgain p" param="STABILIZATION_ATTITUDE_PHI_DDGAIN"/>
-      <dl_setting var="stabilization_gains.a.x" min="0" step="1" max="1000" module="stabilization/stabilization_attitude" shortname="again phi" param="STABILIZATION_ATTITUDE_PHI_AGAIN"/>
       <dl_setting var="stabilization_gains.p.y" min="1" step="1" max="8000"   module="stabilization/stabilization_attitude" shortname="pgain theta" param="STABILIZATION_ATTITUDE_THETA_PGAIN"/>
       <dl_setting var="stabilization_gains.d.y" min="1" step="1" max="4000"   module="stabilization/stabilization_attitude" shortname="dgain q" param="STABILIZATION_ATTITUDE_THETA_DGAIN"/>
       <dl_setting var="stabilization_gains.i.y" min="0"  step="1" max="800"    module="stabilization/stabilization_attitude" shortname="igain theta" param="STABILIZATION_ATTITUDE_THETA_IGAIN"/>
       <dl_setting var="stabilization_gains.dd.y" min="0"    step="1" max="1000"  module="stabilization/stabilization_attitude" shortname="ddgain q" param="STABILIZATION_ATTITUDE_THETA_DDGAIN"/>
-      <dl_setting var="stabilization_gains.a.y" min="0" step="1" max="1000" module="stabilization/stabilization_attitude" shortname="again theta" param="STABILIZATION_ATTITUDE_THETA_AGAIN"/>
       <dl_setting var="stabilization_gains.p.z" min="1" step="1" max="4000"   module="stabilization/stabilization_attitude" shortname="pgain psi" param="STABILIZATION_ATTITUDE_PSI_PGAIN"/>
       <dl_setting var="stabilization_gains.d.z" min="1" step="1" max="4000"   module="stabilization/stabilization_attitude" shortname="dgain r" param="STABILIZATION_ATTITUDE_PSI_DGAIN"/>
       <dl_setting var="stabilization_gains.i.z" min="0"  step="1" max="400"    module="stabilization/stabilization_attitude" shortname="igain psi" param="STABILIZATION_ATTITUDE_PSI_IGAIN"/>
       <dl_setting var="stabilization_gains.dd.z" min="0" step="1" max="1000"  module="stabilization/stabilization_attitude" shortname="ddgain r" param="STABILIZATION_ATTITUDE_PSI_DDGAIN"/>
-      <dl_setting var="stabilization_gains.a.z" min="0" step="1" max="1000" module="stabilization/stabilization_attitude" shortname="again psi" param="STABILIZATION_ATTITUDE_PSI_AGAIN"/>
     </dl_settings>
 
   </dl_settings>

diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_int.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_int.c
@@ -52,11 +52,6 @@ void stabilization_attitude_init(void) {
   stabilization_attitude_ref_init();
 
 
-  VECT3_ASSIGN(stabilization_gains.a,
-               STABILIZATION_ATTITUDE_PHI_AGAIN,
-               STABILIZATION_ATTITUDE_THETA_AGAIN,
-               STABILIZATION_ATTITUDE_PSI_AGAIN);
-
   VECT3_ASSIGN(stabilization_gains.p,
                STABILIZATION_ATTITUDE_PHI_PGAIN,
                STABILIZATION_ATTITUDE_THETA_PGAIN,
@@ -112,14 +107,11 @@ void stabilization_attitude_run(bool_t  in_flight) {
 
   /* compute feedforward command */
   stabilization_att_ff_cmd[COMMAND_ROLL] =
-    OFFSET_AND_ROUND(stabilization_gains.dd.x * stab_att_ref_accel.p, 5)
-    + OFFSET_AND_ROUND(stabilization_gains.a.x * stab_att_ref_euler.phi, 6);
+    OFFSET_AND_ROUND(stabilization_gains.dd.x * stab_att_ref_accel.p, 5);
   stabilization_att_ff_cmd[COMMAND_PITCH] =
-    OFFSET_AND_ROUND(stabilization_gains.dd.y * stab_att_ref_accel.q, 5)
-    + OFFSET_AND_ROUND(stabilization_gains.a.y * stab_att_ref_euler.theta, 6);
+    OFFSET_AND_ROUND(stabilization_gains.dd.y * stab_att_ref_accel.q, 5);
   stabilization_att_ff_cmd[COMMAND_YAW] =
-    OFFSET_AND_ROUND(stabilization_gains.dd.z * stab_att_ref_accel.r, 5)
-    + OFFSET_AND_ROUND(stabilization_gains.a.z * stab_att_ref_euler.psi, 6);
+    OFFSET_AND_ROUND(stabilization_gains.dd.z * stab_att_ref_accel.r, 5);
 
   /* compute feedback command */
   /* attitude error            */

diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_int.h b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_int.h
@@ -29,7 +29,6 @@
 #include "generated/airframe.h"
 
 struct Int32AttitudeGains {
-  struct Int32Vect3  a;
   struct Int32Vect3  p;
   struct Int32Vect3  d;
   struct Int32Vect3  dd;