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AC_Autorotation: remove unused variables

This commit is contained in:
Peter Barker 2020-09-30 11:28:20 +10:00 committed by Peter Barker
parent 57373180d1
commit 12af51e356
2 changed files with 2 additions and 9 deletions
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3
libraries/AC_Autorotation/AC_Autorotation.cpp
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@ -119,8 +119,7 @@ const AP_Param::GroupInfo AC_Autorotation::var_info[] = {
}; };
// Constructor // Constructor
AC_Autorotation::AC_Autorotation(AP_InertialNav& inav) : AC_Autorotation::AC_Autorotation() :
_inav(inav),
_p_hs(HS_CONTROLLER_HEADSPEED_P), _p_hs(HS_CONTROLLER_HEADSPEED_P),
_p_fw_vel(AP_FW_VEL_P) _p_fw_vel(AP_FW_VEL_P)
{ {

8
libraries/AC_Autorotation/AC_Autorotation.h
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@ -18,7 +18,7 @@ class AC_Autorotation
public: public:
//Constructor //Constructor
AC_Autorotation(AP_InertialNav& inav); AC_Autorotation();
//--------Functions-------- //--------Functions--------
void init_hs_controller(void); // Initialise head speed controller void init_hs_controller(void); // Initialise head speed controller
@ -51,7 +51,6 @@ private:
float _current_rpm; float _current_rpm;
float _collective_out; float _collective_out;
float _head_speed_error; // Error between target head speed and current head speed. Normalised by head speed set point RPM. float _head_speed_error; // Error between target head speed and current head speed. Normalised by head speed set point RPM.
uint16_t _log_counter;
float _col_cutoff_freq; // Lowpass filter cutoff frequency (Hz) for collective. float _col_cutoff_freq; // Lowpass filter cutoff frequency (Hz) for collective.
uint8_t _unhealthy_rpm_counter; // Counter used to track RPM sensor unhealthy signal. uint8_t _unhealthy_rpm_counter; // Counter used to track RPM sensor unhealthy signal.
uint8_t _healthy_rpm_counter; // Counter used to track RPM sensor healthy signal. uint8_t _healthy_rpm_counter; // Counter used to track RPM sensor healthy signal.
@ -61,7 +60,6 @@ private:
float _vel_target; // Forward velocity target. float _vel_target; // Forward velocity target.
float _pitch_target; // Pitch angle target. float _pitch_target; // Pitch angle target.
float _vel_error; // Velocity error.
float _accel_max; // Maximum acceleration limit. float _accel_max; // Maximum acceleration limit.
int16_t _speed_forward_last; // The forward speed calculated in the previous cycle. int16_t _speed_forward_last; // The forward speed calculated in the previous cycle.
bool _flag_limit_accel; // Maximum acceleration limit reached flag. bool _flag_limit_accel; // Maximum acceleration limit reached flag.
@ -101,8 +99,4 @@ private:
// low pass filter for collective trim // low pass filter for collective trim
LowPassFilterFloat col_trim_lpf; LowPassFilterFloat col_trim_lpf;
//--------References to Other Libraries--------
AP_InertialNav& _inav;
}; };