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mc att ctl: remove code which is already in base class

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This commit is contained in:
Thomas Gubler
2014-12-08 14:21:04 +01:00
parent 996438aafe
commit b500cfb1f1
1 changed files with 0 additions and 27 deletions
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src/modules/mc_att_control/mc_att_control_main.cpp
-27
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@@ -236,33 +236,6 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
_loop_perf(perf_alloc(PC_ELAPSED, "mc_att_control")) _loop_perf(perf_alloc(PC_ELAPSED, "mc_att_control"))
{ {
memset(&_v_att, 0, sizeof(_v_att));
memset(&_v_att_sp, 0, sizeof(_v_att_sp));
memset(&_v_rates_sp, 0, sizeof(_v_rates_sp));
memset(&_manual_control_sp, 0, sizeof(_manual_control_sp));
memset(&_v_control_mode, 0, sizeof(_v_control_mode));
memset(&_actuators, 0, sizeof(_actuators));
memset(&_armed, 0, sizeof(_armed));
_params.att_p.zero();
_params.rate_p.zero();
_params.rate_i.zero();
_params.rate_d.zero();
_params.yaw_ff = 0.0f;
_params.yaw_rate_max = 0.0f;
_params.man_roll_max = 0.0f;
_params.man_pitch_max = 0.0f;
_params.man_yaw_max = 0.0f;
_params.acro_rate_max.zero();
_rates_prev.zero();
_rates_sp.zero();
_rates_int.zero();
_thrust_sp = 0.0f;
_att_control.zero();
_I.identity();
_params_handles.roll_p = param_find("MC_ROLL_P"); _params_handles.roll_p = param_find("MC_ROLL_P");
_params_handles.roll_rate_p = param_find("MC_ROLLRATE_P"); _params_handles.roll_rate_p = param_find("MC_ROLLRATE_P");
_params_handles.roll_rate_i = param_find("MC_ROLLRATE_I"); _params_handles.roll_rate_i = param_find("MC_ROLLRATE_I");