From 88cf2aebc6334794792c5f56b1961d171c579b38 Mon Sep 17 00:00:00 2001 From: Dennis Mannhart Date: Thu, 22 Feb 2018 08:42:16 +0100 Subject: [PATCH] PositionControl: comment fix + unused parameter removal --- src/modules/mc_pos_control/PositionControl.cpp | 2 +- src/modules/mc_pos_control/PositionControl.hpp | 2 -- 2 files changed, 1 insertion(+), 3 deletions(-) diff --git a/src/modules/mc_pos_control/PositionControl.cpp b/src/modules/mc_pos_control/PositionControl.cpp index 89ad10691b..781fc9e189 100644 --- a/src/modules/mc_pos_control/PositionControl.cpp +++ b/src/modules/mc_pos_control/PositionControl.cpp @@ -87,7 +87,7 @@ void PositionControl::updateSetpoint(struct vehicle_local_position_setpoint_s se _vel_sp = Data(&setpoint.vx); _acc_sp = Data(&setpoint.acc_x); _thr_sp = Data(setpoint.thrust); - _yaw_sp = setpoint.yaw; //integrate + _yaw_sp = setpoint.yaw; _yawspeed_sp = setpoint.yawspeed; _interfaceMapping(); diff --git a/src/modules/mc_pos_control/PositionControl.hpp b/src/modules/mc_pos_control/PositionControl.hpp index c2c3ae6c8e..207b988d91 100644 --- a/src/modules/mc_pos_control/PositionControl.hpp +++ b/src/modules/mc_pos_control/PositionControl.hpp @@ -112,8 +112,6 @@ private: param_t _ThrHover_h{PARAM_INVALID}; param_t _ThrMax_h{PARAM_INVALID}; param_t _ThrMin_h{PARAM_INVALID}; - param_t _YawRateMax_h{PARAM_INVALID}; - param_t _Pyaw_h{PARAM_INVALID}; //only temporary: this will be moved into attitude controller /* Parameters */ matrix::Vector3f Pp, Pv, Iv, Dv = matrix::Vector3f{0.0f, 0.0f, 0.0f};