cleanup3

ArduPilot · Feb 18, 2024 · f6900c0 · f6900c0
1 parent 9193b50
commit f6900c0
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Showing 5 changed files with 5 additions and 162 deletions.
diff --git a/libraries/AC_CustomControl/AC_CustomControl.cpp b/libraries/AC_CustomControl/AC_CustomControl.cpp
@@ -8,15 +8,14 @@
 #include "AC_CustomControl_Backend.h"
 // #include "AC_CustomControl_Empty.h"
 #include "AC_CustomControl_PID.h"
-#include "AC_CustomControl_LQR.h"
 #include <GCS_MAVLink/GCS.h>
 
 // table of user settable parameters
 const AP_Param::GroupInfo AC_CustomControl::var_info[] = {
     // @Param: _TYPE
     // @DisplayName: Custom control type
     // @Description: Custom control type to be used
-    // @Values: 0:None, 1:Empty, 2:PID, 3:LQR-integral
+    // @Values: 0:None, 1:Empty, 2:PID
     // @RebootRequired: True
     // @User: Advanced
     AP_GROUPINFO_FLAGS("_TYPE", 1, AC_CustomControl, _controller_type, 0, AP_PARAM_FLAG_ENABLE),
@@ -34,9 +33,6 @@ const AP_Param::GroupInfo AC_CustomControl::var_info[] = {
     // parameters for PID controller
     AP_SUBGROUPVARPTR(_backend, "2_", 7, AC_CustomControl, _backend_var_info[1]),
 
-    // parameters for LQR controller
-    AP_SUBGROUPVARPTR(_backend, "3_", 8, AC_CustomControl, _backend_var_info[2]),
-
     AP_GROUPEND
 };
 
@@ -66,10 +62,6 @@ void AC_CustomControl::init(void)
             _backend = new AC_CustomControl_PID(*this, _ahrs, _att_control, _motors, _dt);
             _backend_var_info[get_type()] = AC_CustomControl_PID::var_info;
             break;
-        case CustomControlType::CONT_LQR:
-            _backend = new AC_CustomControl_LQR(*this, _ahrs, _att_control, _motors, _dt);
-            _backend_var_info[get_type()] = AC_CustomControl_LQR::var_info;
-            break;
         default:
             return;
     }
@@ -201,4 +193,4 @@ void AC_CustomControl::set_notch_sample_rate(float sample_rate)
 #endif
 }
 
-#endif
+#endif
diff --git a/libraries/AC_CustomControl/AC_CustomControl.h b/libraries/AC_CustomControl/AC_CustomControl.h
@@ -13,7 +13,7 @@
 #if AP_CUSTOMCONTROL_ENABLED
 
 #ifndef CUSTOMCONTROL_MAX_TYPES
-#define CUSTOMCONTROL_MAX_TYPES 3
+#define CUSTOMCONTROL_MAX_TYPES 2
 #endif
 
 class AC_CustomControl_Backend;
@@ -48,7 +48,6 @@ class AC_CustomControl {
         CONT_NONE            = 0,
         CONT_EMPTY           = 1,
         CONT_PID             = 2,
-        CONT_LQR             = 3,
     };            // controller that should be used     
 
     enum class  CustomControlOption {
@@ -73,4 +72,4 @@ class AC_CustomControl {
     AC_CustomControl_Backend *_backend;
 };
 
-#endif
+#endif
diff --git a/libraries/AC_CustomControl/AC_CustomControl_Backend.h b/libraries/AC_CustomControl/AC_CustomControl_Backend.h
@@ -34,4 +34,4 @@ class AC_CustomControl_Backend
     AC_CustomControl& _frontend;
 };
 
-#endif
+#endif
diff --git a/libraries/AC_CustomControl/AC_CustomControl_LQR.cpp b/libraries/AC_CustomControl/AC_CustomControl_LQR.cpp
diff --git a/libraries/AC_CustomControl/AC_CustomControl_LQR.h b/libraries/AC_CustomControl/AC_CustomControl_LQR.h
-Original file line number
+Diff line change
@@ Expand Up / @@ -34,4 +34,4 @@ class AC_CustomControl_Backend @@
         AC_CustomControl& _frontend;
     };
-    #endif
+    #endif