From 57827563b9b3b8771be28d580842d4fbcf084918 Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Mon, 30 Jun 2014 21:11:05 +0200
Subject: fw pos ctrl l1 main: fix warning

---
 .../fw_pos_control_l1/fw_pos_control_l1_main.cpp   | 38 ++++++++++------------
 1 file changed, 18 insertions(+), 20 deletions(-)

(limited to 'src')

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 000c02e3d..e877f0e84 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
@@ -414,11 +414,23 @@ FixedwingPositionControl::FixedwingPositionControl() :
 	_attitude_sp_pub(-1),
 	_nav_capabilities_pub(-1),
 
+/* states */
+	_att(),
+	_att_sp(),
+	_nav_capabilities(),
+	_manual(),
+	_airspeed(),
+	_control_mode(),
+	_global_pos(),
+	_pos_sp_triplet(),
+	_sensor_combined(),
+	_range_finder(),
+
 /* performance counters */
 	_loop_perf(perf_alloc(PC_ELAPSED, "fw l1 control")),
 
-/* states */
 	_loiter_hold(false),
+	_launch_valid(false),
 	land_noreturn_horizontal(false),
 	land_noreturn_vertical(false),
 	land_stayonground(false),
@@ -427,24 +439,17 @@ FixedwingPositionControl::FixedwingPositionControl() :
 	launch_detected(false),
 	usePreTakeoffThrust(false),
 	last_manual(false),
+	landingslope(),
 	flare_curve_alt_rel_last(0.0f),
 	launchDetector(),
 	_airspeed_error(0.0f),
 	_airspeed_valid(false),
+	_airspeed_last_valid(0),
 	_groundspeed_undershoot(0.0f),
 	_global_pos_valid(false),
-	_att(),
-	_att_sp(),
-	_nav_capabilities(),
-	_manual(),
-	_airspeed(),
-	_control_mode(),
-	_global_pos(),
-	_pos_sp_triplet(),
-	_sensor_combined(),
+	_l1_control(),
 	_mTecs(),
-	_was_pos_control_mode(false),
-	_range_finder()
+	_was_pos_control_mode(false)
 {
 	_nav_capabilities.turn_distance = 0.0f;
 
@@ -806,13 +811,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_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;
-
+	/* define altitude error */
 	float altitude_error = _pos_sp_triplet.current.alt - _global_pos.alt;
 
 	/* no throttle limit as default */
@@ -945,7 +944,6 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 			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));
 			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));
-- 
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