From 79bcdf3625964deabcacfc224900205eaeec2c38 Mon Sep 17 00:00:00 2001 From: rmackay9 Date: Thu, 22 Nov 2012 12:50:39 +0900 Subject: [PATCH] ArduCopter: remove commented out remnants of roll_scale_d and pitch_scale_d --- ArduCopter/ArduCopter.pde | 14 -------------- 1 file changed, 14 deletions(-) diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde index 543cbab4a9..413bb65242 100644 --- a/ArduCopter/ArduCopter.pde +++ b/ArduCopter/ArduCopter.pde @@ -493,8 +493,6 @@ static uint32_t rc_override_fs_timer; static Vector3f omega; // This is used to hold radio tuning values for in-flight CH6 tuning 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 @@ -1612,18 +1610,6 @@ void update_roll_pitch_mode(void) if(ap_system.new_radio_frame) { // clear new radio frame info 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; - */ } }