APM_PI: remove unused library

libraries/APM_PI/APM_PI.cpp

@@ -1,61 +0,0 @@
-// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-
-/// @file	ACM_PI.cpp
-/// @brief	Generic PI algorithm
-
-#include <AP_Math/AP_Math.h>
-
-#include "APM_PI.h"
-
-const AP_Param::GroupInfo APM_PI::var_info[] = {
-    AP_GROUPINFO("P",    0, APM_PI, _kp, 0),
-    AP_GROUPINFO("I",    1, APM_PI, _ki, 0),
-    AP_GROUPINFO("IMAX", 2, APM_PI, _imax, 0),
-    AP_GROUPEND
-};
-
-int32_t APM_PI::get_p(int32_t error)
-{
-    return (float)error * _kp;
-}
-
-int32_t APM_PI::get_i(int32_t error, float dt)
-{
-    if(dt != 0) {
-        _integrator += ((float)error * _ki) * dt;
-
-        if (_integrator < -_imax) {
-            _integrator = -_imax;
-        } else if (_integrator > _imax) {
-            _integrator = _imax;
-        }
-    }
-    return _integrator;
-}
-
-int32_t APM_PI::get_pi(int32_t error, float dt)
-{
-    return get_p(error) + get_i(error, dt);
-}
-
-void
-APM_PI::reset_I()
-{
-    _integrator = 0;
-}
-
-void
-APM_PI::load_gains()
-{
-    _kp.load();
-    _ki.load();
-    _imax.load();
-}
-
-void
-APM_PI::save_gains()
-{
-    _kp.save();
-    _ki.save();
-    _imax.save();
-}

libraries/APM_PI/APM_PI.h

@@ -1,115 +0,0 @@
-// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-
-/// @file	PI.h
-/// @brief	Generic PI algorithm, with EEPROM-backed storage of constants.
-
-#ifndef __APM_PI_H__
-#define __APM_PI_H__
-
-#include <stdlib.h>
-#include <AP_Param/AP_Param.h>
-
-/// @class	APM_PI
-/// @brief	Object managing one PI control
-class APM_PI {
-public:
-
-    /// Constructor for PI that saves its settings to EEPROM
-    ///
-    /// @note	PI must be named to avoid either multiple parameters with the
-    ///			same name, or an overly complex constructor.
-    ///
-    /// @param  initial_p       Initial value for the P term.
-    /// @param  initial_i       Initial value for the I term.
-    /// @param  initial_imax    Initial value for the imax term.4
-    ///
-    APM_PI(const float &    initial_p = 0.0f,
-           const float &    initial_i = 0.0f,
-           const int16_t &  initial_imax = 0.0f)
-    {
-		AP_Param::setup_object_defaults(this, var_info);
-        _kp = initial_p;
-        _ki = initial_i;
-        _imax = initial_imax;
-    }
-
-    /// Iterate the PI, return the new control value
-    ///
-    /// Positive error produces positive output.
-    ///
-    /// @param error	The measured error value
-    /// @param dt		The time delta in milliseconds (note
-    ///					that update interval cannot be more
-    ///					than 65.535 seconds due to limited range
-    ///					of the data type).
-    /// @param scaler	An arbitrary scale factor
-    ///
-    /// @returns		The updated control output.
-    ///
-    //long  get_pi(int32_t error, float	 dt);
-    int32_t         get_pi(int32_t error, float dt);
-    int32_t         get_p(int32_t error);
-    int32_t         get_i(int32_t error, float dt);
-
-
-    /// Reset the PI integrator
-    ///
-    void        reset_I();
-
-    /// Load gain properties
-    ///
-    void        load_gains();
-
-    /// Save gain properties
-    ///
-    void        save_gains();
-
-    /// @name	parameter accessors
-    //@{
-
-    // Overload the function call operator to permit relatively easy
-    //initialisation
-    void operator        () (const float    p,
-                             const float    i,
-                             const int16_t  imaxval) {
-        _kp = p; _ki = i; _imax = imaxval;
-    }
-
-    float           kP() const {
-        return _kp.get();
-    }
-    float           kI() const {
-        return _ki.get();
-    }
-    int16_t         imax() const {
-        return _imax.get();
-    }
-
-    void            kP(const float v)               {
-        _kp.set(v);
-    }
-    void            kI(const float v)               {
-        _ki.set(v);
-    }
-    void            imax(const int16_t v)   {
-        _imax.set(abs(v));
-    }
-    float           get_integrator() const {
-        return _integrator;
-    }
-    void            set_integrator(float i) {
-        _integrator = i;
-    }
-
-    static const struct AP_Param::GroupInfo        var_info[];
-
-private:
-    AP_Float        _kp;
-    AP_Float        _ki;
-    AP_Int16        _imax;
-
-    // integrator value
-    float           _integrator;
-};
-
-#endif