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ArduCopter: remove unused get_desired_climb_rate function

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This commit is contained in:
rmackay9 2012-11-24 16:46:07 +09:00
parent a94826f182
commit 7035529953
1 changed files with 0 additions and 56 deletions
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56
ArduCopter/navigation.pde
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@ -523,60 +523,6 @@ static void reset_desired_speed()
max_speed_old = 0;
}
#define MAX_CLIMB_RATE_UP 300
#define MAX_CLIMB_RATE_DOWN 200
#define MIN_CLIMB_RATE 50
#define DECEL_CLIMB_RATE 30
static int16_t get_desired_climb_rate()
{
if(alt_change_flag == REACHED_ALT) {
return 0;
}
int16_t climb = 0;
int32_t dist = labs(altitude_error);
if(dist < 20000){ // limit the size of numbers we're dealing with to avoid overflow
dist -= 300; // give ourselves 3 meter buffer to the desired alt
float temp = 2 * DECEL_CLIMB_RATE * dist + (MIN_CLIMB_RATE * MIN_CLIMB_RATE); // 50cm minium climb_rate;
climb = sqrt(temp);
if(alt_change_flag == ASCENDING){
climb = constrain(climb, 200, MAX_CLIMB_RATE_UP);
}else{
// Descending
climb = constrain(climb, MIN_CLIMB_RATE, MAX_CLIMB_RATE_DOWN);
}
}else{
if(alt_change_flag == ASCENDING){
climb = MAX_CLIMB_RATE_UP; // don't go to fast
}else{
climb = MAX_CLIMB_RATE_DOWN; // don't go to fast
}
}
if(alt_change_flag == DESCENDING){
climb = -climb;
}
return climb;
}
static int16_t get_desired_climb_rate_old()
{
if(alt_change_flag == ASCENDING) {
return constrain(altitude_error / 4, 100, 180); // 180cm /s up, minimum is 100cm/s
}else if(alt_change_flag == DESCENDING) {
return constrain(altitude_error / 6, -100, -10); // -100cm /s down, max is -10cms
}else{
return 0;
}
}
static void update_crosstrack(void)
{
// Crosstrack Error
@ -653,8 +599,6 @@ static void verify_altitude()
// Keeps old data out of our calculation / logs
static void reset_nav_params(void)
{
nav_throttle = 0;
// always start Circle mode at same angle
circle_angle = 0;