fw att ctrl: removed unused parameter

3 files changed, 1 insertions, 5 deletions

diff --git a/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp b/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
index 882fac02b..b66d1dba5 100644
--- a/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
+++ b/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
@@ -90,6 +90,7 @@ float ECL_PitchController::control_attitude(float pitch_setpoint, float roll, fl
 	}
 
 	/* calculate the offset in the rate resulting from rolling  */
+	//xxx needs explanation and conversion to body angular rates or should be removed
 	float turn_offset = fabsf((CONSTANTS_ONE_G / airspeed) *
 				tanf(roll) * sinf(roll)) * _roll_ff;
 	if (inverted)
diff --git a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp
index 15e2b0f71..5e2200727 100644
--- a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp
+++ b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp
@@ -53,7 +53,6 @@ ECL_YawController::ECL_YawController() :
 	_k_ff(0.0f),
 	_integrator_max(0.0f),
 	_max_rate(0.0f),
-	_roll_ff(0.0f),
 	_last_output(0.0f),
 	_integrator(0.0f),
 	_rate_error(0.0f),
diff --git a/src/lib/ecl/attitude_fw/ecl_yaw_controller.h b/src/lib/ecl/attitude_fw/ecl_yaw_controller.h
index f61698c36..03f3202d0 100644
--- a/src/lib/ecl/attitude_fw/ecl_yaw_controller.h
+++ b/src/lib/ecl/attitude_fw/ecl_yaw_controller.h
@@ -87,10 +87,6 @@ public:
 		_max_rate = max_rate;
 	}
 
-	void set_k_roll_ff(float roll_ff) {
-		_roll_ff = roll_ff;
-	}
-
 	void set_coordinated_min_speed(float coordinated_min_speed) {
 		_coordinated_min_speed = coordinated_min_speed;
 	}