From db516bc18d089bd12ee6fac58bd5e37d258a7655 Mon Sep 17 00:00:00 2001
From: Balduin <balduin@auterion.com>
Date: Wed, 7 Jan 2026 15:59:26 +0100
Subject: [PATCH] MulticopterRateControl: Remove old battery scaling

---
 .../mc_rate_control/MulticopterRateControl.cpp | 18 ------------------
 .../mc_rate_control/MulticopterRateControl.hpp |  8 +-------
 .../mc_rate_control/mc_rate_control_params.c   | 14 --------------
 3 files changed, 1 insertion(+), 39 deletions(-)

diff --git a/src/modules/mc_rate_control/MulticopterRateControl.cpp b/src/modules/mc_rate_control/MulticopterRateControl.cpp
index a7a8ed4212..9c92849330 100644
--- a/src/modules/mc_rate_control/MulticopterRateControl.cpp
+++ b/src/modules/mc_rate_control/MulticopterRateControl.cpp
@@ -237,24 +237,6 @@ MulticopterRateControl::Run()
 			vehicle_torque_setpoint.xyz[1] = PX4_ISFINITE(torque_setpoint(1)) ? torque_setpoint(1) : 0.f;
 			vehicle_torque_setpoint.xyz[2] = PX4_ISFINITE(torque_setpoint(2)) ? torque_setpoint(2) : 0.f;
 
-			// scale setpoints by battery status if enabled
-			if (_param_mc_bat_scale_en.get()) {
-				if (_battery_status_sub.updated()) {
-					battery_status_s battery_status;
-
-					if (_battery_status_sub.copy(&battery_status) && battery_status.connected && battery_status.scale > 0.f) {
-						_battery_status_scale = battery_status.scale;
-					}
-				}
-
-				if (_battery_status_scale > 0.f) {
-					for (int i = 0; i < 3; i++) {
-						vehicle_thrust_setpoint.xyz[i] = math::constrain(vehicle_thrust_setpoint.xyz[i] * _battery_status_scale, -1.f, 1.f);
-						vehicle_torque_setpoint.xyz[i] = math::constrain(vehicle_torque_setpoint.xyz[i] * _battery_status_scale, -1.f, 1.f);
-					}
-				}
-			}
-
 			vehicle_thrust_setpoint.timestamp_sample = angular_velocity.timestamp_sample;
 			vehicle_thrust_setpoint.timestamp = hrt_absolute_time();
 			_vehicle_thrust_setpoint_pub.publish(vehicle_thrust_setpoint);
diff --git a/src/modules/mc_rate_control/MulticopterRateControl.hpp b/src/modules/mc_rate_control/MulticopterRateControl.hpp
index 76e488305a..72a8138762 100644
--- a/src/modules/mc_rate_control/MulticopterRateControl.hpp
+++ b/src/modules/mc_rate_control/MulticopterRateControl.hpp
@@ -48,7 +48,6 @@
 #include <uORB/Subscription.hpp>
 #include <uORB/SubscriptionCallback.hpp>
 #include <uORB/topics/actuator_controls_status.h>
-#include <uORB/topics/battery_status.h>
 #include <uORB/topics/control_allocator_status.h>
 #include <uORB/topics/manual_control_setpoint.h>
 #include <uORB/topics/parameter_update.h>
@@ -92,7 +91,6 @@ private:
 
 	RateControl _rate_control; ///< class for rate control calculations
 
-	uORB::Subscription _battery_status_sub{ORB_ID(battery_status)};
 	uORB::Subscription _control_allocator_status_sub{ORB_ID(control_allocator_status)};
 	uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
 	uORB::Subscription _vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)};
@@ -123,8 +121,6 @@ private:
 	// keep setpoint values between updates
 	matrix::Vector3f _acro_rate_max;		/**< max attitude rates in acro mode */
 	matrix::Vector3f _rates_setpoint{};
-
-	float _battery_status_scale{0.0f};
 	matrix::Vector3f _thrust_setpoint{};
 
 	float _energy_integration_time{0.0f};
@@ -161,8 +157,6 @@ private:
 		(ParamFloat<px4::params::MC_ACRO_EXPO>) _param_mc_acro_expo,			/**< expo stick curve shape (roll & pitch) */
 		(ParamFloat<px4::params::MC_ACRO_EXPO_Y>) _param_mc_acro_expo_y,				/**< expo stick curve shape (yaw) */
 		(ParamFloat<px4::params::MC_ACRO_SUPEXPO>) _param_mc_acro_supexpo,		/**< superexpo stick curve shape (roll & pitch) */
-		(ParamFloat<px4::params::MC_ACRO_SUPEXPOY>) _param_mc_acro_supexpoy,		/**< superexpo stick curve shape (yaw) */
-
-		(ParamBool<px4::params::MC_BAT_SCALE_EN>) _param_mc_bat_scale_en
+		(ParamFloat<px4::params::MC_ACRO_SUPEXPOY>) _param_mc_acro_supexpoy		/**< superexpo stick curve shape (yaw) */
 	)
 };
diff --git a/src/modules/mc_rate_control/mc_rate_control_params.c b/src/modules/mc_rate_control/mc_rate_control_params.c
index e9937d00fa..540de269fe 100644
--- a/src/modules/mc_rate_control/mc_rate_control_params.c
+++ b/src/modules/mc_rate_control/mc_rate_control_params.c
@@ -278,20 +278,6 @@ PARAM_DEFINE_FLOAT(MC_YAWRATE_FF, 0.0f);
  */
 PARAM_DEFINE_FLOAT(MC_YAWRATE_K, 1.0f);
 
-/**
- * Battery power level scaler
- *
- * This compensates for voltage drop of the battery over time by attempting to
- * normalize performance across the operating range of the battery. The copter
- * should constantly behave as if it was fully charged with reduced max acceleration
- * at lower battery percentages. i.e. if hover is at 0.5 throttle at 100% battery,
- * it will still be 0.5 at 60% battery.
- *
- * @boolean
- * @group Multicopter Rate Control
- */
-PARAM_DEFINE_INT32(MC_BAT_SCALE_EN, 0);
-
 /**
  * Low pass filter cutoff frequency for yaw torque setpoint
  *