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Copter: remove some comments from althold

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Randy Mackay 2015-06-22 11:14:50 +09:00
parent a642c88e34
commit 15c57342a5
1 changed files with 0 additions and 9 deletions
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9
ArduCopter/control_althold.cpp
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@ -82,14 +82,6 @@ void Copter::althold_run()
// call attitude controller
attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
// body-frame rate controller is run directly from 100hz loop
// call throttle controller
// ToDo: Should we really run surface_tracking during takeoff?
// if (sonar_alt_health >= SONAR_ALT_HEALTH_MAX) {
// if sonar is ok, use surface tracking
// target_climb_rate = get_surface_tracking_climb_rate(target_climb_rate, pos_control.get_alt_target(), G_Dt);
// }
// call position controller
pos_control.set_alt_target_from_climb_rate(target_climb_rate, G_Dt, false);
@ -112,7 +104,6 @@ void Copter::althold_run()
case AltHold_Flying:
// call attitude controller
attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
// body-frame rate controller is run directly from 100hz loop
// call throttle controller
if (sonar_enabled && (sonar_alt_health >= SONAR_ALT_HEALTH_MAX)) {