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FlightTaskManual: remove unused methods

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This commit is contained in:
Dennis Mannhart
2018-04-05 07:30:12 +02:00
committed by Beat Küng
parent 7a4796a6e3
commit 3b0373afda
1 changed files with 0 additions and 30 deletions
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src/lib/FlightTasks/tasks/FlightTaskManual.cpp
-30
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@@ -67,8 +67,6 @@ bool FlightTaskManual::initializeSubscriptions(SubscriptionArray &subscription_a
bool FlightTaskManual::activate()
{
bool ret = FlightTask::activate();
_hold_position = Vector3f(NAN, NAN, NAN);
_hold_yaw = NAN;
return ret;
}
@@ -93,34 +91,6 @@ bool FlightTaskManual::update()
return true;
}
float FlightTaskManual::_get_input_frame_yaw()
{
/* using constant yaw angle from setpoint here to prevent sideways oscillation in fast forward flight */
if (PX4_ISFINITE(_hold_yaw)) {
return _hold_yaw;
} else {
return _yaw;
}
}
void FlightTaskManual::_updateYaw()
{
const float yaw_speed = _sticks(3) * math::radians(_man_yaw_max.get());
_setYawspeedSetpoint(yaw_speed);
const bool stick_yaw_zero = fabsf(yaw_speed) <= FLT_EPSILON;
if (stick_yaw_zero && !PX4_ISFINITE(_hold_yaw)) {
_hold_yaw = _yaw;
} else if (!stick_yaw_zero) {
_hold_yaw = NAN;
}
_setYawSetpoint(_hold_yaw);
}
bool FlightTaskManual::_evaluateSticks()
{
/* Sticks are rescaled linearly and exponentially from [0,1] to [-1,1] */