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FlightTaskManualPositionSmooth: remove unused mehthods and member variables

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This commit is contained in:
Dennis Mannhart 2018-02-15 11:14:04 +01:00 committed by Beat Küng
parent d6fe2159ae
commit 5bd2afa7be
2 changed files with 11 additions and 20 deletions
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22
src/lib/FlightTasks/tasks/FlightTaskManualPositionSmooth.cpp
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@ -45,27 +45,23 @@ FlightTaskManualPositionSmooth::FlightTaskManualPositionSmooth(control::SuperBlo
_smoothingZ(_velocity(2), _sticks(2))
{}
bool FlightTaskManualPositionSmooth::activate()
{
_vel_sp_prev_z = _velocity(2);
return FlightTaskManualPosition::activate();
}
void FlightTaskManualPositionSmooth::_updateSetpoints()
{
/* Get yaw setpont, unsmoothed position setpoints */
/* Get yaw setpont, un-smoothed position setpoints.*/
FlightTaskManualPosition::_updateSetpoints();
/* Smooth velocity setpoint in xy */
/* Smooth velocity setpoint in xy.*/
matrix::Vector2f vel(&_velocity(0));
_smoothingXY.smoothVelocity(_vel_sp_xy, vel, _yaw, _yaw_rate_sp, _deltatime);
Vector2f vel_sp_xy = Vector2f(&_vel_sp(0));
_smoothingXY.smoothVelocity(vel_sp_xy, vel, _yaw, _yaw_rate_sp, _deltatime);
_vel_sp(0) = vel_sp_xy(0);
_vel_sp(1) = vel_sp_xy(1);
/* Check for altitude lock*/
/* Check for altitude lock.*/
_updateXYlock();
/* Smooth velocity in z*/
_smoothingZ.smoothVelFromSticks(_vel_sp_z, _deltatime);
/* Smooth velocity in z.*/
_smoothingZ.smoothVelFromSticks(_vel_sp(2), _deltatime);
/* Check for altitude lock*/
_updateAltitudeLock();

9
src/lib/FlightTasks/tasks/FlightTaskManualPositionSmooth.hpp
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@ -49,14 +49,9 @@ public:
virtual ~FlightTaskManualPositionSmooth() = default;
bool activate() override;
protected:
virtual void _updateSetpoints() override;
ManualSmoothingXY _smoothingXY; // Smoothing for velocity setpoints.
ManualSmoothingZ _smoothingZ; //Smoothing for velocity in z.
float _vel_sp_prev_z{}; // Velocity setpoint from previous iteration.
ManualSmoothingXY _smoothingXY; /**< smoothing for velocity setpoints in xy */
ManualSmoothingZ _smoothingZ; /**< smoothing for velocity in z */
};