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ACM : attitude.pde - removed unused function

This commit is contained in:
Jason Short 2012-08-09 17:04:12 -07:00
parent e12ce1d5a7
commit 132ac7d412
1 changed files with 0 additions and 20 deletions
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ArduCopter/Attitude.pde
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@ -350,26 +350,6 @@ get_rate_yaw(int32_t target_rate)
} }
static int16_t
get_nav_throttle(int32_t z_error)
{
int16_t z_target_speed;
// convert to desired Rate:
z_target_speed = g.pi_alt_hold.get_p(z_error);
z_target_speed = constrain(z_target_speed, -250, 250);
// limit error to prevent I term wind up
z_error = constrain(z_error, -400, 400);
// compensates throttle setpoint error for hovering
int16_t i_hold = g.pi_alt_hold.get_i(z_error, .02);
// output control:
return get_throttle_rate(z_target_speed) + i_hold; //+ boost_p;
}
static int16_t static int16_t
get_throttle_rate(int16_t z_target_speed) get_throttle_rate(int16_t z_target_speed)
{ {