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PositionControl: remove unused parameters

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This commit is contained in:
Dennis Mannhart
2018-02-21 17:54:45 +01:00
committed by Beat Küng
parent 67900512ab
commit 03b3026e18
2 changed files with 1 additions and 11 deletions
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src/modules/mc_pos_control/PositionControl.cpp
+1 -9
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@@ -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);
}