cleanup

aenarete · Jun 18, 2024 · ce9c59a · ce9c59a
1 parent 3b7b82a
commit ce9c59a
Show file tree

Hide file tree

Showing 2 changed files with 2 additions and 6 deletions.
diff --git a/data/fpc_settings_hydra20.yaml b/data/fpc_settings_hydra20.yaml
@@ -22,6 +22,6 @@ fpc_settings:
 
     k_c1: 1.6                  # correction factor, used by the NDI block; increase k_c1, if the radius is too small;
     k_c2: 6.0                  # C2 for the reelout phase was: 7.0
-    k_c2_high: 6.0             # C2 for the reelout phase at high elevation angles was: 14.0
+    k_c2_high: 6.0             # unused
     k_c2_int:  0.6             # C2 for the intermediate phase LOW_RIGHT, LOW_TURN, LOW_LEFT
     k_ds: 2.0                  # influence of the depower angle on the steering sensitivity
diff --git a/src/flightpathcontroller.jl b/src/flightpathcontroller.jl
@@ -257,11 +257,7 @@ function linearize(fpc::FlightPathController, psi_dot; fix_va=false)
         fpc.c2 = fpc.fcs.c2 * (fpc.fcs.k_c2_int + k)
     else
         k = (va_fix - 22) / 3.5 # was: 4
-        if fpc.beta < deg2rad(30)
-            fpc.c2 = fpc.fcs.c2 * (fpc.fcs.k_c2 + k)
-        else
-            fpc.c2 = fpc.fcs.c2 * (fpc.fcs.k_c2_high + k)
-        end
+        fpc.c2 = fpc.fcs.c2 * (fpc.fcs.k_c2 + k)
     end
     u_s = (1.0 + fpc.fcs.k_ds * fpc.u_d_prime) / (fpc.c1 * va_hat) * (psi_dot - fpc.c2 / va_fix * sin(fpc.psi) * cos(fpc.beta))
     if abs(psi_dot) < 1e-6