From 95bdc1a9bd364ce95abe06b097579cc8a9162e33 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sun, 29 Dec 2013 16:42:31 +0100 Subject: fw att ctrl: removed unused parameter --- src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp | 1 + src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp | 1 - src/lib/ecl/attitude_fw/ecl_yaw_controller.h | 4 ---- 3 files changed, 1 insertion(+), 5 deletions(-) (limited to 'src/lib') 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; } -- cgit v1.2.3