fw att ctrl: remove renamed parameters

src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp

@@ -52,7 +52,6 @@ ECL_PitchController::ECL_PitchController() :
 	_tc(0.1f),
 	_k_p(0.0f),
 	_k_i(0.0f),
-	_k_d(0.0f),
 	_k_ff(0.0f),
 	_integrator_max(0.0f),
 	_max_rate_pos(0.0f),

src/lib/ecl/attitude_fw/ecl_pitch_controller.h

@@ -77,9 +77,6 @@ public:
 	void set_k_i(float k_i) {
 		_k_i = k_i;
 	}
-	void set_k_d(float k_d) {
-		_k_d = k_d;
-	}
 
 	void set_k_ff(float k_ff) {
 		_k_ff = k_ff;
@@ -119,7 +116,6 @@ private:
 	float _tc;
 	float _k_p;
 	float _k_i;
-	float _k_d;
 	float _k_ff;
 	float _integrator_max;
 	float _max_rate_pos;

src/lib/ecl/attitude_fw/ecl_roll_controller.cpp

@@ -52,7 +52,6 @@ ECL_RollController::ECL_RollController() :
 	_tc(0.1f),
 	_k_p(0.0f),
 	_k_i(0.0f),
-	_k_d(0.0f),
 	_k_ff(0.0f),
 	_integrator_max(0.0f),
 	_max_rate(0.0f),

src/lib/ecl/attitude_fw/ecl_roll_controller.h

@@ -80,10 +80,6 @@ public:
 		_k_i = k_i;
 	}
 
-	void set_k_d(float k_d) {
-		_k_d = k_d;
-	}
-
 	void set_k_ff(float k_ff) {
 		_k_ff = k_ff;
 	}
@@ -113,7 +109,6 @@ private:
 	float _tc;
 	float _k_p;
 	float _k_i;
-	float _k_d;
 	float _k_ff;
 	float _integrator_max;
 	float _max_rate;

src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp

@@ -50,7 +50,6 @@ ECL_YawController::ECL_YawController() :
 	_last_run(0),
 	_k_p(0.0f),
 	_k_i(0.0f),
-	_k_d(0.0f),
 	_k_ff(0.0f),
 	_integrator_max(0.0f),
 	_max_rate(0.0f),

src/lib/ecl/attitude_fw/ecl_yaw_controller.h

@@ -75,10 +75,6 @@ public:
 		_k_i = k_i;
 	}
 
-	void set_k_d(float k_d) {
-		_k_d = k_d;
-	}
-
 	void set_k_ff(float k_ff) {
 		_k_ff = k_ff;
 	}
@@ -116,7 +112,6 @@ private:
 	uint64_t _last_run;
 	float _k_p;
 	float _k_i;
-	float _k_d;
 	float _k_ff;
 	float _integrator_max;
 	float _max_rate;

src/modules/fw_att_control/fw_att_control_main.cpp

@@ -310,7 +310,6 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
 
 	_parameter_handles.tconst = param_find("FW_ATT_TC");
 	_parameter_handles.p_p = param_find("FW_PR_P");
-	_parameter_handles.p_d = param_find("FW_PR_D");
 	_parameter_handles.p_i = param_find("FW_PR_I");
 	_parameter_handles.p_ff = param_find("FW_PR_FF");
 	_parameter_handles.p_rmax_pos = param_find("FW_P_RMAX_POS");
@@ -319,7 +318,6 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
 	_parameter_handles.p_roll_feedforward = param_find("FW_P_ROLLFF");
 
 	_parameter_handles.r_p = param_find("FW_RR_P");
-	_parameter_handles.r_d = param_find("FW_RR_D");
 	_parameter_handles.r_i = param_find("FW_RR_I");
 	_parameter_handles.r_ff = param_find("FW_RR_FF");
 	_parameter_handles.r_integrator_max = param_find("FW_RR_IMAX");
@@ -327,7 +325,6 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
 
 	_parameter_handles.y_p = param_find("FW_YR_P");
 	_parameter_handles.y_i = param_find("FW_YR_I");
-	_parameter_handles.y_d = param_find("FW_YR_D");
 	_parameter_handles.y_ff = param_find("FW_YR_FF");
 	_parameter_handles.y_roll_feedforward = param_find("FW_Y_ROLLFF");
 	_parameter_handles.y_integrator_max = param_find("FW_YR_IMAX");
@@ -374,7 +371,6 @@ FixedwingAttitudeControl::parameters_update()
 
 	param_get(_parameter_handles.tconst, &(_parameters.tconst));
 	param_get(_parameter_handles.p_p, &(_parameters.p_p));
-	param_get(_parameter_handles.p_d, &(_parameters.p_d));
 	param_get(_parameter_handles.p_i, &(_parameters.p_i));
 	param_get(_parameter_handles.p_ff, &(_parameters.p_ff));
 	param_get(_parameter_handles.p_rmax_pos, &(_parameters.p_rmax_pos));
@@ -383,7 +379,6 @@ FixedwingAttitudeControl::parameters_update()
 	param_get(_parameter_handles.p_roll_feedforward, &(_parameters.p_roll_feedforward));
 
 	param_get(_parameter_handles.r_p, &(_parameters.r_p));
-	param_get(_parameter_handles.r_d, &(_parameters.r_d));
 	param_get(_parameter_handles.r_i, &(_parameters.r_i));
 	param_get(_parameter_handles.r_ff, &(_parameters.r_ff));
 
@@ -392,7 +387,6 @@ FixedwingAttitudeControl::parameters_update()
 
 	param_get(_parameter_handles.y_p, &(_parameters.y_p));
 	param_get(_parameter_handles.y_i, &(_parameters.y_i));
-	param_get(_parameter_handles.y_d, &(_parameters.y_d));
 	param_get(_parameter_handles.y_ff, &(_parameters.y_ff));
 	param_get(_parameter_handles.y_roll_feedforward, &(_parameters.y_roll_feedforward));
 	param_get(_parameter_handles.y_integrator_max, &(_parameters.y_integrator_max));
@@ -407,7 +401,6 @@ FixedwingAttitudeControl::parameters_update()
 	_pitch_ctrl.set_time_constant(_parameters.tconst);
 	_pitch_ctrl.set_k_p(_parameters.p_p);
 	_pitch_ctrl.set_k_i(_parameters.p_i);
-	_pitch_ctrl.set_k_d(_parameters.p_d);
 	_pitch_ctrl.set_k_ff(_parameters.p_ff);
 	_pitch_ctrl.set_integrator_max(_parameters.p_integrator_max);
 	_pitch_ctrl.set_max_rate_pos(math::radians(_parameters.p_rmax_pos));
@@ -418,7 +411,6 @@ FixedwingAttitudeControl::parameters_update()
 	_roll_ctrl.set_time_constant(_parameters.tconst);
 	_roll_ctrl.set_k_p(_parameters.r_p);
 	_roll_ctrl.set_k_i(_parameters.r_i);
-	_roll_ctrl.set_k_d(_parameters.r_d);
 	_roll_ctrl.set_k_ff(_parameters.r_ff);
 	_roll_ctrl.set_integrator_max(_parameters.r_integrator_max);
 	_roll_ctrl.set_max_rate(math::radians(_parameters.r_rmax));
@@ -426,7 +418,6 @@ FixedwingAttitudeControl::parameters_update()
 	/* yaw control parameters */
 	_yaw_ctrl.set_k_p(_parameters.y_p);
 	_yaw_ctrl.set_k_i(_parameters.y_i);
-	_yaw_ctrl.set_k_d(_parameters.y_d);
 	_yaw_ctrl.set_k_ff(_parameters.y_ff);
 	_yaw_ctrl.set_k_roll_ff(_parameters.y_roll_feedforward);
 	_yaw_ctrl.set_integrator_max(_parameters.y_integrator_max);

src/modules/fw_att_control/fw_att_control_params.c

@@ -60,11 +60,6 @@ PARAM_DEFINE_FLOAT(FW_ATT_TC, 0.5f);
 // @Range		10 to 200, 1 increments
 PARAM_DEFINE_FLOAT(FW_PR_P, 0.05f);
 
-// @DisplayName		Damping gain.
-// @Description		This gain damps the airframe pitch rate. In particular relevant for flying wings.
-// @Range		0.0 to 10.0, 0.1 increments
-PARAM_DEFINE_FLOAT(FW_PR_D, 0.0f); //xxx: remove
-
 // @DisplayName		Pitch rate integrator gain.
 // @Description		This gain defines how much control response will result out of a steady state error. It trims any constant error.
 // @Range		0 to 50.0
@@ -100,13 +95,6 @@ PARAM_DEFINE_FLOAT(FW_P_ROLLFF, 0.0f);
 // @User		User
 PARAM_DEFINE_FLOAT(FW_RR_P, 0.05f);
 
-// @DisplayName		Damping Gain
-// @Description		Controls the roll rate to roll actuator output. It helps to reduce motions in turbulence.
-// @Range		0.0 10.0
-// @Increment		1.0
-// @User		User
-PARAM_DEFINE_FLOAT(FW_RR_D, 0.0f); //xxx: remove
-
 // @DisplayName		Roll rate integrator Gain
 // @Description		This gain defines how much control response will result out of a steady state error. It trims any constant error.
 // @Range		0.0 100.0
@@ -142,7 +130,6 @@ PARAM_DEFINE_FLOAT(FW_YR_I, 0.0f);
 // @Increment		0.1
 PARAM_DEFINE_FLOAT(FW_YR_IMAX, 0.2f);
 
-PARAM_DEFINE_FLOAT(FW_YR_D, 0); //xxx: remove
 PARAM_DEFINE_FLOAT(FW_Y_ROLLFF, 0); //xxx: remove
 
 // @DisplayName		Maximum Yaw Rate