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mc_att_control comment out unused rates_i_scaled

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Daniel Agar
2017-06-05 18:16:20 -04:00
parent 70a485826d
commit d6e9287f51
1 changed files with 1 additions and 1 deletions
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src/modules/mc_att_control/mc_att_control_main.cpp
+1 -1
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@@ -1015,7 +1015,7 @@ MulticopterAttitudeControl::control_attitude_rates(float dt)
rates(2) -= _ctrl_state.yaw_rate_bias;
math::Vector<3> rates_p_scaled = _params.rate_p.emult(pid_attenuations(_params.tpa_breakpoint_p, _params.tpa_rate_p));
math::Vector<3> rates_i_scaled = _params.rate_i.emult(pid_attenuations(_params.tpa_breakpoint_i, _params.tpa_rate_i));
//math::Vector<3> rates_i_scaled = _params.rate_i.emult(pid_attenuations(_params.tpa_breakpoint_i, _params.tpa_rate_i));
math::Vector<3> rates_d_scaled = _params.rate_d.emult(pid_attenuations(_params.tpa_breakpoint_d, _params.tpa_rate_d));
/* angular rates error */