fw pos ctrl l1 main: remove unused modes

1 files changed, 0 insertions, 83 deletions

diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
index 5ec49b6f8..fc0d588d2 100644
--- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
@@ -1133,89 +1133,6 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 			_att_sp.roll_reset_integral = true;
 		}
 
-	} else if (0/* posctrl mode enabled */) {
-
-		_was_pos_control_mode = false;
-
-		/** POSCTRL FLIGHT **/
-
-	if (0/* switched from another mode to posctrl */) {
-		_altctrl_hold_heading = _att.yaw;
-	}
-
-	if (0/* posctrl on and manual control yaw non-zero */) {
-		_altctrl_hold_heading = _att.yaw + _manual.r;
-	}
-
-	//XXX not used
-
-	/* climb out control */
-//		bool climb_out = false;
-//
-//		/* user wants to climb out */
-//		if (_manual.pitch > 0.3f && _manual.throttle > 0.8f) {
-//			climb_out = true;
-//		}
-
-	/* if in altctrl mode, set airspeed based on manual control */
-
-	// XXX check if ground speed undershoot should be applied here
-	float altctrl_airspeed = _parameters.airspeed_min +
-					(_parameters.airspeed_max - _parameters.airspeed_min) *
-					_manual.z;
-
-		_l1_control.navigate_heading(_altctrl_hold_heading, _att.yaw, ground_speed_2d);
-		_att_sp.roll_body = _l1_control.nav_roll();
-		_att_sp.yaw_body = _l1_control.nav_bearing();
-
-		tecs_update_pitch_throttle(_global_pos.alt + _manual.x * 2.0f, altctrl_airspeed, eas2tas,
-					math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max),
-					_parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
-					false, math::radians(_parameters.pitch_limit_min), _global_pos.alt, ground_speed);
-
-	} else if (0/* altctrl mode enabled */) {
-
-		_was_pos_control_mode = false;
-
-		/** ALTCTRL FLIGHT **/
-
-		if (0/* switched from another mode to altctrl */) {
-			_altctrl_hold_heading = _att.yaw;
-		}
-
-		if (0/* altctrl on and manual control yaw non-zero */) {
-			_altctrl_hold_heading = _att.yaw + _manual.r;
-		}
-
-		/* if in altctrl mode, set airspeed based on manual control */
-
-		// XXX check if ground speed undershoot should be applied here
-		float altctrl_airspeed = _parameters.airspeed_min +
-					  (_parameters.airspeed_max - _parameters.airspeed_min) *
-					  _manual.z;
-
-		/* user switched off throttle */
-		if (_manual.z < 0.1f) {
-			throttle_max = 0.0f;
-		}
-
-		/* climb out control */
-		bool climb_out = false;
-
-		/* user wants to climb out */
-		if (_manual.x > 0.3f && _manual.z > 0.8f) {
-			climb_out = true;
-		}
-
-		_l1_control.navigate_heading(_altctrl_hold_heading, _att.yaw, ground_speed_2d);
-		_att_sp.roll_body =	_manual.y;
-		_att_sp.yaw_body =	_manual.r;
-		tecs_update_pitch_throttle(_global_pos.alt + _manual.x * 2.0f, altctrl_airspeed, eas2tas,
-					math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max),
-					_parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
-					climb_out, math::radians(_parameters.pitch_limit_min),
-					_global_pos.alt, ground_speed);
-
 	} else {
 
 		_was_pos_control_mode = false;