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Copter: remove set_accel_roll_max

This commit is contained in:
Leonard Hall 2015-06-18 21:34:09 +09:00 committed by Randy Mackay
parent c8b522a064
commit 7745fb21a7
1 changed files with 0 additions and 3 deletions
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3
ArduCopter/control_autotune.cpp
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@ -873,14 +873,12 @@ void Copter::autotune_load_intra_test_gains()
g.pid_rate_roll.kI(orig_roll_rp*AUTOTUNE_PI_RATIO_FOR_TESTING);
g.pid_rate_roll.kD(orig_roll_rd);
g.p_stabilize_roll.kP(orig_roll_sp);
attitude_control.set_accel_roll_max(orig_roll_accel);
}
if (autotune_pitch_enabled()) {
g.pid_rate_pitch.kP(orig_pitch_rp);
g.pid_rate_pitch.kI(orig_pitch_rp*AUTOTUNE_PI_RATIO_FOR_TESTING);
g.pid_rate_pitch.kD(orig_pitch_rd);
g.p_stabilize_pitch.kP(orig_pitch_sp);
attitude_control.set_accel_pitch_max(orig_pitch_accel);
}
if (autotune_yaw_enabled()) {
g.pid_rate_yaw.kP(orig_yaw_rp);
@ -888,7 +886,6 @@ void Copter::autotune_load_intra_test_gains()
g.pid_rate_yaw.kD(orig_yaw_rd);
g.pid_rate_yaw.filt_hz(orig_yaw_rLPF);
g.p_stabilize_yaw.kP(orig_yaw_sp);
attitude_control.set_accel_pitch_max(orig_pitch_accel);
}
}