From c9643cb0756c08d9a85bffd45201bbd446b0d82d Mon Sep 17 00:00:00 2001 From: Dennis Mannhart Date: Mon, 20 Mar 2017 10:06:29 +0100 Subject: [PATCH] mc_pos_control: delete leftover from transitional changes for vel_max_z (#6822) --- src/modules/mc_pos_control/mc_pos_control_main.cpp | 10 +--------- src/modules/mc_pos_control/mc_pos_control_params.c | 10 ---------- 2 files changed, 1 insertion(+), 19 deletions(-) diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index 03b0d1ac33..578d4dab19 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -500,15 +500,7 @@ MulticopterPositionControl::MulticopterPositionControl() : _params_handles.z_vel_i = param_find("MPC_Z_VEL_I"); _params_handles.z_vel_d = param_find("MPC_Z_VEL_D"); _params_handles.z_vel_max_up = param_find("MPC_Z_VEL_MAX_UP"); - _params_handles.z_vel_max_down = param_find("MPC_Z_VEL_MAX"); - - // transitional support: Copy param values from max to down - // param so that max param can be renamed in 1-2 releases - // (currently at 1.3.0) - float p; - param_get(param_find("MPC_Z_VEL_MAX"), &p); - param_set(param_find("MPC_Z_VEL_MAX_DN"), &p); - + _params_handles.z_vel_max_down = param_find("MPC_Z_VEL_MAX_DN"); _params_handles.z_ff = param_find("MPC_Z_FF"); _params_handles.xy_p = param_find("MPC_XY_P"); _params_handles.xy_vel_p = param_find("MPC_XY_VEL_P"); diff --git a/src/modules/mc_pos_control/mc_pos_control_params.c b/src/modules/mc_pos_control/mc_pos_control_params.c index ecc0c8813d..da20465677 100644 --- a/src/modules/mc_pos_control/mc_pos_control_params.c +++ b/src/modules/mc_pos_control/mc_pos_control_params.c @@ -214,16 +214,6 @@ PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX_UP, 3.0f); * @max 4.0 * @group Multicopter Position Control */ -PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX, 1.0f); - -/** - * Transitional support, do not change / use - * - * @unit m/s - * @min 0.5 - * @max 4.0 - * @group Multicopter Position Control - */ PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX_DN, 1.0f); /**