From 1ddd94f237f55d623a57de858d7505d6c7f2d00e Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Mon, 29 Jan 2018 07:21:18 +1100
Subject: [PATCH] tecs: Remove redundant code

The if() statement was there as provision to do something different with the speed demand derivative limits if an abnormal condition was present, however we have no basis for assigning different limits at this point in time.
---
 tecs/tecs.cpp | 17 ++++-------------
 1 file changed, 4 insertions(+), 13 deletions(-)

diff --git a/tecs/tecs.cpp b/tecs/tecs.cpp
index fcf6d58c26..1cfdb41114 100644
--- a/tecs/tecs.cpp
+++ b/tecs/tecs.cpp
@@ -206,24 +206,15 @@ void TECS::_update_speed_setpoint()
 	// Set the airspeed demand to the minimum value if an underspeed or
 	// or a uncontrolled descent condition exists to maximise climb rate
 	if ((_uncommanded_descent_recovery) || (_underspeed_detected)) {
-		_TAS_setpoint     = _TAS_min;
+		_TAS_setpoint = _TAS_min;
 	}
 
 	_TAS_setpoint = constrain(_TAS_setpoint, _TAS_min, _TAS_max);
 
-	// Apply limits on the demanded rate of change of speed based on physical performance limits
+	// Calculate limits for the demanded rate of change of speed based on physical performance limits
 	// with a 50% margin to allow the total energy controller to correct for errors.
-	float velRateMax;
-	float velRateMin;
-
-	if ((_uncommanded_descent_recovery) || (_underspeed_detected)) {
-		velRateMax = 0.5f * _STE_rate_max / _tas_state;
-		velRateMin = 0.5f * _STE_rate_min / _tas_state;
-
-	} else {
-		velRateMax = 0.5f * _STE_rate_max / _tas_state;
-		velRateMin = 0.5f * _STE_rate_min / _tas_state;
-	}
+	float velRateMax = 0.5f * _STE_rate_max / _tas_state;
+	float velRateMin = 0.5f * _STE_rate_min / _tas_state;
 
 	_TAS_setpoint_adj = constrain(_TAS_setpoint, _TAS_min, _TAS_max);