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Remove unused function, remove unnecessary angle wrapping.

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This commit is contained in:
Amilcar Lucas 2012-07-10 23:57:15 +02:00
parent 74ef712cd1
commit 42301af148
2 changed files with 2 additions and 8 deletions
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9
libraries/AP_Mount/AP_Mount.cpp
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@ -313,10 +313,12 @@ AP_Mount::calc_GPS_target_angle(struct Location *target)
_roll_control_angle = 0; _roll_control_angle = 0;
_pitch_control_angle = atan2(GPS_vector_z, target_distance); _pitch_control_angle = atan2(GPS_vector_z, target_distance);
_yaw_control_angle = atan2(GPS_vector_x, GPS_vector_y); _yaw_control_angle = atan2(GPS_vector_x, GPS_vector_y);
/*
// Converts +/- 180 into 0-360. // Converts +/- 180 into 0-360.
if(_yaw_control_angle<0){ if(_yaw_control_angle<0){
_yaw_control_angle += 2*M_PI; _yaw_control_angle += 2*M_PI;
} }
*/
} }
/// Stabilizes mount relative to the Earth's frame /// Stabilizes mount relative to the Earth's frame
@ -365,13 +367,6 @@ AP_Mount::stabilize()
} }
} }
// This function is needed to let the HIL code compile
long
AP_Mount::rc_map(RC_Channel_aux* rc_ch)
{
return (rc_ch->radio_in - rc_ch->radio_min) * (rc_ch->angle_max - rc_ch->angle_min) / (rc_ch->radio_max - rc_ch->radio_min) + rc_ch->angle_min;
}
// For testing and development. Called in the medium loop. // For testing and development. Called in the medium loop.
void void
AP_Mount::debug_output() AP_Mount::debug_output()

1
libraries/AP_Mount/AP_Mount.h
View File

@ -64,7 +64,6 @@ private:
// internal methods // internal methods
void calc_GPS_target_angle(struct Location *target); void calc_GPS_target_angle(struct Location *target);
void stabilize(); void stabilize();
long rc_map(RC_Channel_aux* rc_ch);
//members //members
AP_AHRS *_ahrs; ///< Rotation matrix from earth to plane. AP_AHRS *_ahrs; ///< Rotation matrix from earth to plane.