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Copter: remove unused update_navigation and run_autopilot

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This commit is contained in:
Randy Mackay 2021-03-04 14:14:05 +09:00
parent 1c350514ca
commit 32fb3cb929
3 changed files with 0 additions and 13 deletions
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6
ArduCopter/mode.cpp
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@ -406,12 +406,6 @@ void Copter::notify_flight_mode() {
notify.set_flight_mode_str(flightmode->name4()); notify.set_flight_mode_str(flightmode->name4());
} }
void Mode::update_navigation()
{
// run autopilot to make high level decisions about control modes
run_autopilot();
}
// get_pilot_desired_angle - transform pilot's roll or pitch input into a desired lean angle // get_pilot_desired_angle - transform pilot's roll or pitch input into a desired lean angle
// returns desired angle in centi-degrees // returns desired angle in centi-degrees
void Mode::get_pilot_desired_lean_angles(float &roll_out, float &pitch_out, float angle_max, float angle_limit) const void Mode::get_pilot_desired_lean_angles(float &roll_out, float &pitch_out, float angle_max, float angle_limit) const

5
ArduCopter/mode.h
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@ -77,8 +77,6 @@ public:
virtual uint32_t wp_distance() const { return 0; } virtual uint32_t wp_distance() const { return 0; }
virtual float crosstrack_error() const { return 0.0f;} virtual float crosstrack_error() const { return 0.0f;}
void update_navigation();
int32_t get_alt_above_ground_cm(void); int32_t get_alt_above_ground_cm(void);
// pilot input processing // pilot input processing
@ -98,9 +96,6 @@ public:
protected: protected:
// navigation support functions
virtual void run_autopilot() {}
// helper functions // helper functions
bool is_disarmed_or_landed() const; bool is_disarmed_or_landed() const;
void zero_throttle_and_relax_ac(bool spool_up = false); void zero_throttle_and_relax_ac(bool spool_up = false);

2
ArduCopter/navigation.cpp
View File

@ -6,8 +6,6 @@
void Copter::run_nav_updates(void) void Copter::run_nav_updates(void)
{ {
update_super_simple_bearing(false); update_super_simple_bearing(false);
flightmode->update_navigation();
} }
// distance between vehicle and home in cm // distance between vehicle and home in cm