multirotor_att_control: style fixes, cleanup

src/modules/multirotor_att_control/multirotor_rate_control.c

@@ -59,31 +59,23 @@
 #include <systemlib/err.h>
 #include <drivers/drv_hrt.h>
 
-PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.3f); /* same on Flamewheel */
+PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.3f);
 PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.005f);
 PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.2f);
-//PARAM_DEFINE_FLOAT(MC_YAWRATE_AWU, 0.0f);
-//PARAM_DEFINE_FLOAT(MC_YAWRATE_LIM, 1.0f);
 
-PARAM_DEFINE_FLOAT(MC_ATTRATE_P, 0.09f); /* 0.15 F405 Flamewheel */
+PARAM_DEFINE_FLOAT(MC_ATTRATE_P, 0.09f);
 PARAM_DEFINE_FLOAT(MC_ATTRATE_D, 0.002f);
 PARAM_DEFINE_FLOAT(MC_ATTRATE_I, 0.0f);
-//PARAM_DEFINE_FLOAT(MC_ATTRATE_AWU, 0.05f);
-//PARAM_DEFINE_FLOAT(MC_ATTRATE_LIM, 1.0f);	/**< roughly < 500 deg/s limit */
 
 struct mc_rate_control_params {
 
 	float yawrate_p;
 	float yawrate_d;
 	float yawrate_i;
-	//float yawrate_awu;
-	//float yawrate_lim;
 
 	float attrate_p;
 	float attrate_d;
 	float attrate_i;
-	//float attrate_awu;
-	//float attrate_lim;
 
 	float rate_lim;
 };
@@ -93,14 +85,10 @@ struct mc_rate_control_param_handles {
 	param_t yawrate_p;
 	param_t yawrate_i;
 	param_t yawrate_d;
-	//param_t yawrate_awu;
-	//param_t yawrate_lim;
 
 	param_t attrate_p;
 	param_t attrate_i;
 	param_t attrate_d;
-	//param_t attrate_awu;
-	//param_t attrate_lim;
 };
 
 /**
@@ -122,14 +110,10 @@ static int parameters_init(struct mc_rate_control_param_handles *h)
 	h->yawrate_p 	=	param_find("MC_YAWRATE_P");
 	h->yawrate_i 	=	param_find("MC_YAWRATE_I");
 	h->yawrate_d 	=	param_find("MC_YAWRATE_D");
-	//h->yawrate_awu 	=	param_find("MC_YAWRATE_AWU");
-	//h->yawrate_lim 	=	param_find("MC_YAWRATE_LIM");
 
 	h->attrate_p 	= 	param_find("MC_ATTRATE_P");
 	h->attrate_i 	= 	param_find("MC_ATTRATE_I");
 	h->attrate_d 	= 	param_find("MC_ATTRATE_D");
-	//h->attrate_awu 	= 	param_find("MC_ATTRATE_AWU");
-	//h->attrate_lim 	= 	param_find("MC_ATTRATE_LIM");
 
 	return OK;
 }
@@ -139,14 +123,10 @@ static int parameters_update(const struct mc_rate_control_param_handles *h, stru
 	param_get(h->yawrate_p, &(p->yawrate_p));
 	param_get(h->yawrate_i, &(p->yawrate_i));
 	param_get(h->yawrate_d, &(p->yawrate_d));
-	//param_get(h->yawrate_awu, &(p->yawrate_awu));
-	//param_get(h->yawrate_lim, &(p->yawrate_lim));
 
 	param_get(h->attrate_p, &(p->attrate_p));
 	param_get(h->attrate_i, &(p->attrate_i));
 	param_get(h->attrate_d, &(p->attrate_d));
-	//param_get(h->attrate_awu, &(p->attrate_awu));
-	//param_get(h->attrate_lim, &(p->attrate_lim));
 
 	return OK;
 }
@@ -202,15 +182,9 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 		pid_reset_integral(&yaw_rate_controller);
 	}
 
-	/* control pitch (forward) output */
-	float pitch_control = pid_calculate(&pitch_rate_controller, rate_sp->pitch ,
-					    rates[1], 0.0f, deltaT);
-
-	/* control roll (left/right) output */
-	float roll_control = pid_calculate(&roll_rate_controller, rate_sp->roll ,
-					   rates[0], 0.0f, deltaT);
-
-	/* control yaw output */
+	/* run pitch, roll and yaw controllers */
+	float pitch_control = pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0.0f, deltaT);
+	float roll_control = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0.0f, deltaT);
 	float yaw_control = pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0.0f, deltaT);
 
 	actuators->control[0] = roll_control;