fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-16 14:33:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

fw pos ctrl l1 main: remove several unused vars

Browse Source
This commit is contained in:
Thomas Gubler
2014-06-30 21:22:56 +02:00
parent 173da25c9a
commit 62a9254289
1 changed files with 0 additions and 30 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
-30
View File
@@ -152,18 +152,6 @@ private:
perf_counter_t _loop_perf; /**< loop performance counter */
/** manual control states */
float _altctrl_hold_heading; /**< heading the system should hold in altctrl mode */
double _loiter_hold_lat;
double _loiter_hold_lon;
float _loiter_hold_alt;
bool _loiter_hold;
double _launch_lat;
double _launch_lon;
float _launch_alt;
bool _launch_valid;
/* land states */
/* not in non-abort mode for landing yet */
bool land_noreturn_horizontal;
@@ -429,8 +417,6 @@ FixedwingPositionControl::FixedwingPositionControl() :
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "fw l1 control")),
_loiter_hold(false),
_launch_valid(false),
land_noreturn_horizontal(false),
land_noreturn_vertical(false),
land_stayonground(false),
@@ -609,13 +595,6 @@ FixedwingPositionControl::vehicle_control_mode_poll()
bool was_armed = _control_mode.flag_armed;
orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &_control_mode);
if (!was_armed && _control_mode.flag_armed) {
_launch_lat = _global_pos.lat;
_launch_lon = _global_pos.lon;
_launch_alt = _global_pos.alt;
_launch_valid = true;
}
}
}
@@ -1109,15 +1088,6 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
}
}
// warnx("nav bearing: %8.4f bearing err: %8.4f target bearing: %8.4f", (double)_l1_control.nav_bearing(),
// (double)_l1_control.bearing_error(), (double)_l1_control.target_bearing());
// warnx("prev wp: %8.4f/%8.4f, next wp: %8.4f/%8.4f prev:%s", (double)prev_wp(0), (double)prev_wp(1),
// (double)next_wp(0), (double)next_wp(1), (pos_sp_triplet.previous_valid) ? "valid" : "invalid");
// XXX at this point we always want no loiter hold if a
// mission is active
_loiter_hold = false;
/* reset landing state */
if (pos_sp_triplet.current.type != SETPOINT_TYPE_LAND) {
reset_landing_state();