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author | Thomas Gubler <thomasgubler@gmail.com> | 2014-06-30 21:22:56 +0200 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-06-30 21:22:56 +0200 |
commit | 62a92542891d32d88c1993e03da9a17d59f70d04 (patch) | |
tree | e2c67f296560c7b6a65190d44ae74e81bfb5bf08 /src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | |
parent | 173da25c9a55185377870f703cd751fd44b902f0 (diff) | |
download | px4-firmware-62a92542891d32d88c1993e03da9a17d59f70d04.tar.gz px4-firmware-62a92542891d32d88c1993e03da9a17d59f70d04.tar.bz2 px4-firmware-62a92542891d32d88c1993e03da9a17d59f70d04.zip |
fw pos ctrl l1 main: remove several unused vars
Diffstat (limited to 'src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp')
-rw-r--r-- | src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 30 |
1 files changed, 0 insertions, 30 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 fc0d588d2..445abf23e 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 @@ -152,18 +152,6 @@ private: perf_counter_t _loop_perf; /**< loop performance counter */ - /** manual control states */ - float _altctrl_hold_heading; /**< heading the system should hold in altctrl mode */ - double _loiter_hold_lat; - double _loiter_hold_lon; - float _loiter_hold_alt; - bool _loiter_hold; - - double _launch_lat; - double _launch_lon; - float _launch_alt; - bool _launch_valid; - /* land states */ /* not in non-abort mode for landing yet */ bool land_noreturn_horizontal; @@ -429,8 +417,6 @@ FixedwingPositionControl::FixedwingPositionControl() : /* performance counters */ _loop_perf(perf_alloc(PC_ELAPSED, "fw l1 control")), - _loiter_hold(false), - _launch_valid(false), land_noreturn_horizontal(false), land_noreturn_vertical(false), land_stayonground(false), @@ -609,13 +595,6 @@ FixedwingPositionControl::vehicle_control_mode_poll() bool was_armed = _control_mode.flag_armed; orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &_control_mode); - - if (!was_armed && _control_mode.flag_armed) { - _launch_lat = _global_pos.lat; - _launch_lon = _global_pos.lon; - _launch_alt = _global_pos.alt; - _launch_valid = true; - } } } @@ -1109,15 +1088,6 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi } } - // warnx("nav bearing: %8.4f bearing err: %8.4f target bearing: %8.4f", (double)_l1_control.nav_bearing(), - // (double)_l1_control.bearing_error(), (double)_l1_control.target_bearing()); - // warnx("prev wp: %8.4f/%8.4f, next wp: %8.4f/%8.4f prev:%s", (double)prev_wp(0), (double)prev_wp(1), - // (double)next_wp(0), (double)next_wp(1), (pos_sp_triplet.previous_valid) ? "valid" : "invalid"); - - // XXX at this point we always want no loiter hold if a - // mission is active - _loiter_hold = false; - /* reset landing state */ if (pos_sp_triplet.current.type != SETPOINT_TYPE_LAND) { reset_landing_state(); |