From 3224cf19a836901675a749b91c8f382f7c76cf62 Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Wed, 14 Jun 2023 12:43:52 -0400
Subject: [PATCH] SITL: remove unused variables

---
 libraries/SITL/SIM_Frame.cpp    |  4 +---
 libraries/SITL/SIM_Helicopter.h |  3 ---
 libraries/SITL/SIM_LM2755.h     | 12 +-----------
 libraries/SITL/SIM_VectorNav.h  |  2 --
 libraries/SITL/SIM_XPlane.h     |  1 -
 5 files changed, 2 insertions(+), 20 deletions(-)

diff --git a/libraries/SITL/SIM_Frame.cpp b/libraries/SITL/SIM_Frame.cpp
index abddbe6fdb..81fb426190 100644
--- a/libraries/SITL/SIM_Frame.cpp
+++ b/libraries/SITL/SIM_Frame.cpp
@@ -407,7 +407,7 @@ void Frame::load_frame_params(const char *model_json)
     char label_name[20];
     for (uint8_t i=0; i<ARRAY_SIZE(per_motor_vars); i++) {
         for (uint8_t j=0; j<12; j++) {
-            sprintf(label_name, "motor%i_%s", j+1, per_motor_vars[i].label);
+            snprintf(label_name, 20, "motor%i_%s", j+1, per_motor_vars[i].label);
             auto v = obj->get(label_name);
             if (v.is<picojson::null>()) {
                 // use default value
@@ -553,11 +553,9 @@ void Frame::calculate_forces(const Aircraft &aircraft,
 
     Vector3f vel_air_bf = aircraft.get_dcm().transposed() * aircraft.get_velocity_air_ef();
 
-    float current = 0;
     for (uint8_t i=0; i<num_motors; i++) {
         Vector3f mtorque, mthrust;
         motors[i].calculate_forces(input, motor_offset, mtorque, mthrust, vel_air_bf, gyro, air_density, battery->get_voltage(), use_drag);
-        current += motors[i].get_current();
         torque += mtorque;
         thrust += mthrust;
         // simulate motor rpm
diff --git a/libraries/SITL/SIM_Helicopter.h b/libraries/SITL/SIM_Helicopter.h
index 3b3d24c5e3..4410b19dec 100644
--- a/libraries/SITL/SIM_Helicopter.h
+++ b/libraries/SITL/SIM_Helicopter.h
@@ -59,14 +59,11 @@ protected:
 
 private:
     float terminal_rotation_rate = 4*radians(360.0f);
-    float hover_throttle = 0.5f;
-    float terminal_velocity = 80;
     float hover_lean = 3.2f;
     float rotor_rot_accel = radians(20);
     float roll_rate_max = radians(1400);
     float pitch_rate_max = radians(1400);
     float yaw_rate_max = radians(1400);
-    float rsc_setpoint = 0.8f;
     float izz = 0.2f; 
     float iyy;
     float tr_dist = 0.85f;
diff --git a/libraries/SITL/SIM_LM2755.h b/libraries/SITL/SIM_LM2755.h
index f6f0cd3aa0..d11dbaadaf 100644
--- a/libraries/SITL/SIM_LM2755.h
+++ b/libraries/SITL/SIM_LM2755.h
@@ -72,12 +72,7 @@ private:
                    uint8_t &_ramp_down_step_time,
                    uint8_t &_timing) :
             high_level{_high_level},
-            low_level{_low_level},
-            delay{_delay},
-            ramp_up_step_time{_ramp_up_step_time},
-            time_high{_time_high},
-            ramp_down_step_time{_ramp_down_step_time},
-            timing{_timing}
+            low_level{_low_level}
             { }
 
         void update();
@@ -88,11 +83,6 @@ private:
     private:
         uint8_t &high_level;
         uint8_t &low_level;
-        uint8_t &delay;
-        uint8_t &ramp_up_step_time;
-        uint8_t &time_high;
-        uint8_t &ramp_down_step_time;
-        uint8_t &timing;
 
         uint8_t output_value;
     };
diff --git a/libraries/SITL/SIM_VectorNav.h b/libraries/SITL/SIM_VectorNav.h
index 2a4ed32f40..436e19cd22 100644
--- a/libraries/SITL/SIM_VectorNav.h
+++ b/libraries/SITL/SIM_VectorNav.h
@@ -48,8 +48,6 @@ private:
     void send_packet1();
     void send_packet2();
     void nmea_printf(const char *fmt, ...);
-
-    uint64_t start_us;
 };
 
 }
diff --git a/libraries/SITL/SIM_XPlane.h b/libraries/SITL/SIM_XPlane.h
index a0e44ae9d8..8405143932 100644
--- a/libraries/SITL/SIM_XPlane.h
+++ b/libraries/SITL/SIM_XPlane.h
@@ -133,7 +133,6 @@ private:
     void check_reload_dref(void);
 
     uint32_t xplane_version;
-    bool have_ref_lat;
 };