From 03b3026e18f13ce57de5d3e82728cf0d09f73172 Mon Sep 17 00:00:00 2001
From: Dennis Mannhart <dennis@yuneecresearch.com>
Date: Wed, 21 Feb 2018 17:54:45 +0100
Subject: [PATCH] PositionControl: remove unused parameters

---
 src/modules/mc_pos_control/PositionControl.cpp | 10 +---------
 src/modules/mc_pos_control/PositionControl.hpp |  2 --
 2 files changed, 1 insertion(+), 11 deletions(-)

diff --git a/src/modules/mc_pos_control/PositionControl.cpp b/src/modules/mc_pos_control/PositionControl.cpp
index f70751ec88..89ad10691b 100644
--- a/src/modules/mc_pos_control/PositionControl.cpp
+++ b/src/modules/mc_pos_control/PositionControl.cpp
@@ -68,8 +68,6 @@ PositionControl::PositionControl()
 	_ThrHover_h = param_find("MPC_THR_HOVER");
 	_ThrMax_h = param_find("MPC_THR_MAX");
 	_ThrMin_h = param_find("MPC_THR_MIN");
-	_YawRateMax_h = param_find("MPC_MAN_Y_MAX");
-	_Pyaw_h = param_find("MC_YAW_P");
 
 	/* Set parameter the very first time. */
 	_setParams();
@@ -163,10 +161,7 @@ void PositionControl::_interfaceMapping()
 		}
 	}
 
-	if (PX4_ISFINITE(_yawspeed_sp) && fabsf(_yawspeed_sp) > 0.0f) {
-		_yawspeed_sp = math::sign(_yawspeed_sp) * math::min(fabsf(_yawspeed_sp), math::radians(_YawRateMax));
-
-	} else {
+	if (!PX4_ISFINITE(_yawspeed_sp)) {
 		_yawspeed_sp = 0.0f;
 	}
 
@@ -306,7 +301,4 @@ void PositionControl::_setParams()
 	param_get(_ThrHover_h, &_ThrHover);
 	param_get(_ThrMax_h, &_ThrLimit[0]);
 	param_get(_ThrMin_h, &_ThrLimit[1]);
-
-	param_get(_YawRateMax_h, &_YawRateMax);
-	param_get(_Pyaw_h, &_Pyaw);
 }
diff --git a/src/modules/mc_pos_control/PositionControl.hpp b/src/modules/mc_pos_control/PositionControl.hpp
index 72e2fa7347..c2c3ae6c8e 100644
--- a/src/modules/mc_pos_control/PositionControl.hpp
+++ b/src/modules/mc_pos_control/PositionControl.hpp
@@ -121,8 +121,6 @@ private:
 	float _VelMaxZ[2]; //index 0: index up; 1: down
 	float _ThrHover{0.5f};
 	float _ThrLimit[2]; //index 0: max, index 1: min
-	float _Pyaw{};
-	float _YawRateMax{};
 	bool _skipController{false};
 
 	/* Helper methods */