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author | Don Gagne <don@thegagnes.com> | 2014-07-06 16:51:06 -0700 |
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committer | Don Gagne <don@thegagnes.com> | 2014-07-06 16:51:06 -0700 |
commit | 2a79689224a381cf777c555d330f0a2aca8e3d9a (patch) | |
tree | cd896bc12d7db7c7eba5929d4576cbc920e782d0 /src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | |
parent | d67089b23f58ac152253f58c5deaebbd57db0362 (diff) | |
download | px4-firmware-2a79689224a381cf777c555d330f0a2aca8e3d9a.tar.gz px4-firmware-2a79689224a381cf777c555d330f0a2aca8e3d9a.tar.bz2 px4-firmware-2a79689224a381cf777c555d330f0a2aca8e3d9a.zip |
Fix unused variable warnings
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 | 7 |
1 files changed, 1 insertions, 6 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 3e835cf81..3d6c62434 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 @@ -807,12 +807,8 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi float eas2tas = 1.0f; // XXX calculate actual number based on current measurements - // XXX re-visit - float baro_altitude = _global_pos.alt; - /* filter speed and altitude for controller */ math::Vector<3> accel_body(_sensor_combined.accelerometer_m_s2); - math::Vector<3> accel_earth = _R_nb * accel_body; float altitude_error = _pos_sp_triplet.current.alt - _global_pos.alt; @@ -945,8 +941,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi float airspeed_land = 1.3f * _parameters.airspeed_min; float airspeed_approach = 1.3f * _parameters.airspeed_min; - /* Calculate distance (to landing waypoint) and altitude of last ordinary waypoint L */ - float L_wp_distance = get_distance_to_next_waypoint(prev_wp(0), prev_wp(1), curr_wp(0), curr_wp(1)); + /* Calculate altitude of last ordinary waypoint L */ float L_altitude_rel = _pos_sp_triplet.previous.valid ? _pos_sp_triplet.previous.alt - _pos_sp_triplet.current.alt : 0.0f; float bearing_airplane_currwp = get_bearing_to_next_waypoint(current_position(0), current_position(1), curr_wp(0), curr_wp(1)); |