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ArduCopter: remove commented out remnants of roll_scale_d and pitch_scale_d

This commit is contained in:
rmackay9 2012-11-22 12:50:39 +09:00
parent e32e0b03b4
commit 3372355e07
1 changed files with 0 additions and 14 deletions
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ArduCopter/ArduCopter.pde
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@ -493,8 +493,6 @@ static uint32_t rc_override_fs_timer;
static Vector3f omega; static Vector3f omega;
// This is used to hold radio tuning values for in-flight CH6 tuning // This is used to hold radio tuning values for in-flight CH6 tuning
float tuning_value; float tuning_value;
// This will keep track of the percent of roll or pitch the user is applying
//float roll_scale_d, pitch_scale_d;
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
// LED output // LED output
@ -1612,18 +1610,6 @@ void update_roll_pitch_mode(void)
if(ap_system.new_radio_frame) { if(ap_system.new_radio_frame) {
// clear new radio frame info // clear new radio frame info
ap_system.new_radio_frame = false; ap_system.new_radio_frame = false;
// These values can be used to scale the PID gains
// This allows for a simple gain scheduling implementation
/*
roll_scale_d = g.stabilize_d_schedule * (float)abs(g.rc_1.control_in);
roll_scale_d = (1 - (roll_scale_d / 4500.0));
roll_scale_d = constrain(roll_scale_d, 0, 1) * g.stabilize_d;
pitch_scale_d = g.stabilize_d_schedule * (float)abs(g.rc_2.control_in);
pitch_scale_d = (1 - (pitch_scale_d / 4500.0));
pitch_scale_d = constrain(pitch_scale_d, 0, 1) * g.stabilize_d;
*/
} }
} }