From 032ae69eeef7ec74c238f0de52c1e4c8070081ea Mon Sep 17 00:00:00 2001
From: Silvan Fuhrer <silvan@auterion.com>
Date: Wed, 22 May 2024 16:53:23 +0200
Subject: [PATCH] VTOL: remove _dt passing as it's no longer used (and was
 wrong)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
---
 src/modules/vtol_att_control/vtol_att_control_main.cpp | 9 ++-------
 src/modules/vtol_att_control/vtol_att_control_main.h   | 6 +++---
 src/modules/vtol_att_control/vtol_type.h               | 8 --------
 3 files changed, 5 insertions(+), 18 deletions(-)

diff --git a/src/modules/vtol_att_control/vtol_att_control_main.cpp b/src/modules/vtol_att_control/vtol_att_control_main.cpp
index b464793c99..199dcac84c 100644
--- a/src/modules/vtol_att_control/vtol_att_control_main.cpp
+++ b/src/modules/vtol_att_control/vtol_att_control_main.cpp
@@ -284,10 +284,10 @@ VtolAttitudeControl::Run()
 		return;
 	}
 
-	const hrt_abstime now = hrt_absolute_time();
-
 #if !defined(ENABLE_LOCKSTEP_SCHEDULER)
 
+	const hrt_abstime now = hrt_absolute_time();
+
 	// prevent excessive scheduling (> 500 Hz)
 	if (now - _last_run_timestamp < 2_ms) {
 		return;
@@ -295,9 +295,6 @@ VtolAttitudeControl::Run()
 
 #endif // !ENABLE_LOCKSTEP_SCHEDULER
 
-	const float dt = math::min((now - _last_run_timestamp) / 1e6f, kMaxVTOLAttitudeControlTimeStep);
-	_last_run_timestamp = now;
-
 	if (!_initialized) {
 
 		if (_vtol_type->init()) {
@@ -309,8 +306,6 @@ VtolAttitudeControl::Run()
 		}
 	}
 
-	_vtol_type->setDt(dt);
-
 	perf_begin(_loop_perf);
 
 	bool updated_fw_in = _vehicle_torque_setpoint_virtual_fw_sub.update(&_vehicle_torque_setpoint_virtual_fw);
diff --git a/src/modules/vtol_att_control/vtol_att_control_main.h b/src/modules/vtol_att_control/vtol_att_control_main.h
index 132448177f..6ef046f05f 100644
--- a/src/modules/vtol_att_control/vtol_att_control_main.h
+++ b/src/modules/vtol_att_control/vtol_att_control_main.h
@@ -92,8 +92,6 @@ using namespace time_literals;
 
 extern "C" __EXPORT int vtol_att_control_main(int argc, char *argv[]);
 
-static constexpr float kMaxVTOLAttitudeControlTimeStep = 0.1f; // max time step [s]
-
 class VtolAttitudeControl : public ModuleBase<VtolAttitudeControl>, public ModuleParams, public px4::WorkItem
 {
 public:
@@ -211,7 +209,9 @@ private:
 
 	float _air_density{atmosphere::kAirDensitySeaLevelStandardAtmos};	// [kg/m^3]
 
-	hrt_abstime _last_run_timestamp{0};
+#if !defined(ENABLE_LOCKSTEP_SCHEDULER)
+	hrt_abstime _last_run_timestamp {0};
+#endif // !ENABLE_LOCKSTEP_SCHEDULER
 
 	/* For multicopters it is usual to have a non-zero idle speed of the engines
 	 * for fixed wings we want to have an idle speed of zero since we do not want
diff --git a/src/modules/vtol_att_control/vtol_type.h b/src/modules/vtol_att_control/vtol_type.h
index d59887372e..78d078b5c8 100644
--- a/src/modules/vtol_att_control/vtol_type.h
+++ b/src/modules/vtol_att_control/vtol_type.h
@@ -251,12 +251,6 @@ public:
 
 	virtual void parameters_update() = 0;
 
-	/**
-	 * @brief Set current time delta
-	 *
-	 * @param dt Current time delta [s]
-	 */
-	void setDt(float dt) {_dt = dt; }
 
 	/**
 	 * @brief Resets the transition timer states.
@@ -326,8 +320,6 @@ protected:
 	bool isFrontTransitionCompleted();
 	virtual bool isFrontTransitionCompletedBase();
 
-	float _dt{0.0025f}; // time step [s]
-
 	float _local_position_z_start_of_transition{0.f}; // altitude at start of transition
 
 	int _altitude_reset_counter{0};