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Plane: remove old commented code 

- leftover from the AP_Landing stage refactor
This commit is contained in:
Tom Pittenger 2017-01-26 13:45:28 -08:00
parent da48b24a5c
commit 1a34221db9
1 changed files with 1 additions and 15 deletions
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16
ArduPlane/ArduPlane.cpp
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@ -943,21 +943,7 @@ void Plane::update_flight_stage(void)
} else {
set_flight_stage(AP_Vehicle::FixedWing::FLIGHT_LAND);
}
/*
// FIXME: lift this into AP_Landing_Slope
} else if (flight_stage != AP_Vehicle::FixedWing::FLIGHT_LAND_APPROACH) {
bool heading_lined_up = abs(nav_controller->bearing_error_cd()) < 1000 && !nav_controller->data_is_stale();
const bool on_flight_line = fabsf(nav_controller->crosstrack_error()) < 5.0f && !nav_controller->data_is_stale();
bool below_prev_WP = current_loc.alt < prev_WP_loc.alt;
if ((mission.get_prev_nav_cmd_id() == MAV_CMD_NAV_LOITER_TO_ALT) ||
(auto_state.wp_proportion >= 0 && heading_lined_up && on_flight_line) ||
(auto_state.wp_proportion > 0.15f && heading_lined_up && below_prev_WP) ||
(auto_state.wp_proportion > 0.5f)) {
set_flight_stage(AP_Vehicle::FixedWing::FLIGHT_LAND_APPROACH);
} else {
set_flight_stage(AP_Vehicle::FixedWing::FLIGHT_NORMAL);
}
}*/
} else if (quadplane.in_assisted_flight()) {
set_flight_stage(AP_Vehicle::FixedWing::FLIGHT_VTOL);
} else {