From 7035529953677d87163b27b04ba3f3bdd9d65675 Mon Sep 17 00:00:00 2001
From: rmackay9 <rmackay9@yahoo.com>
Date: Sat, 24 Nov 2012 16:46:07 +0900
Subject: [PATCH] ArduCopter: remove unused get_desired_climb_rate function

---
 ArduCopter/navigation.pde | 56 ---------------------------------------
 1 file changed, 56 deletions(-)

diff --git a/ArduCopter/navigation.pde b/ArduCopter/navigation.pde
index 2ff4b85263..bed377c548 100644
--- a/ArduCopter/navigation.pde
+++ b/ArduCopter/navigation.pde
@@ -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;