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VTOL: remove _flag_was_in_trans_mode from standard vtol (not used)

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-09-21 14:18:43 -04:00
committed by Daniel Agar
parent 828f629413
commit d7fab74727
4 changed files with 2 additions and 11 deletions
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src/modules/vtol_att_control/tiltrotor.cpp
-7
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@@ -61,8 +61,6 @@ Tiltrotor::Tiltrotor(VtolAttitudeControl *attc) :
_mc_roll_weight = 1.0f;
_mc_pitch_weight = 1.0f;
_mc_yaw_weight = 1.0f;
_flag_was_in_trans_mode = false;
}
void
@@ -296,11 +294,6 @@ void Tiltrotor::update_transition_state()
float time_since_trans_start = (float)(hrt_absolute_time() - _vtol_schedule.transition_start) * 1e-6f;
if (!_flag_was_in_trans_mode) {
// save desired heading for transition and last thrust value
_flag_was_in_trans_mode = true;
}
if (_vtol_schedule.flight_mode == vtol_mode::TRANSITION_FRONT_P1) {
// for the first part of the transition all rotors are enabled