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attitude_fw delete unused and cleanup

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This commit is contained in:
Daniel Agar
2017-08-26 17:44:24 -04:00
parent fac292fef9
commit 25bd3ac5e6
12 changed files with 96 additions and 251 deletions
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attitude_fw/ecl_controller.cpp
+1 -20
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@@ -48,25 +48,6 @@
#include "ecl_controller.h"
#include <stdio.h>
#include <mathlib/mathlib.h>
ECL_Controller::ECL_Controller(const char *name) :
_last_run(0),
_tc(0.1f),
_k_p(0.0f),
_k_i(0.0f),
_k_ff(0.0f),
_integrator_max(0.0f),
_max_rate(0.0f),
_last_output(0.0f),
_integrator(0.0f),
_rate_error(0.0f),
_rate_setpoint(0.0f),
_bodyrate_setpoint(0.0f)
{
}
void ECL_Controller::reset_integrator()
{
_integrator = 0.0f;
@@ -123,7 +104,7 @@ float ECL_Controller::constrain_airspeed(float airspeed, float minspeed, float m
{
float airspeed_result = airspeed;
if (!PX4_ISFINITE(airspeed)) {
if (!ISFINITE(airspeed)) {
/* airspeed is NaN, +- INF or not available, pick center of band */
airspeed_result = 0.5f * (minspeed + maxspeed);