Removed last of Xtrack

ArduCopter/ArduCopter.pde

@@ -316,11 +316,13 @@ static bool 	did_ground_start	= false;		// have we ground started after first ar
 // ---------------------
 static const float radius_of_earth 	= 6378100;		// meters
 static const float gravity 			= 9.81;			// meters/ sec^2
-static long		nav_bearing;						// deg * 100 : 0 to 360 current desired bearing to navigate
+//static long		nav_bearing;						// deg * 100 : 0 to 360 current desired bearing to navigate
 static long		target_bearing;						// deg * 100 : 0 to 360 location of the plane to the target
 
-static bool		xtrack_enabled = false;
+//static bool		xtrack_enabled = false;
-static long		crosstrack_bearing;					// deg * 100 : 0 to 360 desired angle of plane to target
+//static long		crosstrack_bearing;					// deg * 100 : 0 to 360 desired angle of plane to target
+//static long		crosstrack_correction;				// deg * 100 : 0 to 360 desired angle of plane to target
+
 static int		climb_rate;							// m/s * 100  - For future implementation of controlled ascent/descent by rate
 static long 	circle_angle = 0;
 static byte	wp_control;							// used to control - navgation or loiter
@@ -349,7 +351,7 @@ static int		airspeed;							// m/s * 100
 
 // Location Errors
 // ---------------
-static long		bearing_error;						// deg * 100 : 0 to 36000
+//static long		bearing_error;						// deg * 100 : 0 to 36000
 static long		altitude_error;						// meters * 100 we are off in altitude
 static long 	old_altitude;
 static long 	yaw_error;							// how off are we pointed
@@ -674,8 +676,8 @@ static void medium_loop()
 				// ------------------------------------------------------
 				navigate();
 
-				// control mode specific updates to nav_bearing
+				// control mode specific updates
-				// --------------------------------------------
+				// -----------------------------
 				update_navigation();
 
 				if (g.log_bitmask & MASK_LOG_NTUN)
@@ -799,7 +801,7 @@ static void fifty_hz_loop()
 	#endif
 
 	// use Yaw to find our bearing error
-	calc_bearing_error();
+	//calc_bearing_error();
 
 	//if (throttle_slew < 0)
 	//	throttle_slew++;
@@ -1246,7 +1248,7 @@ static void update_navigation()
 				wp_control = WP_MODE;
 			}else{
 				set_mode(LOITER);
-				xtrack_enabled = false;
+				//xtrack_enabled = false;
 			}
 
 

ArduCopter/HIL_Xplane.pde

@@ -12,7 +12,7 @@ void HIL_XPLANE::output_HIL(void)
 	output_int((int)(g.rc_3.servo_out));				// 	2	bytes 4, 5
 	output_int((int)(g.rc_4.servo_out));				// 	3	bytes 6, 7
 	output_int((int)wp_distance);						// 	4	bytes 8,9
-	output_int((int)bearing_error);						// 	5	bytes 10,11
+	//output_int((int)bearing_error);						// 	5	bytes 10,11
 	output_int((int)altitude_error);					// 	6	bytes 12, 13
 	output_int((int)energy_error);						// 	7	bytes 14,15
 	output_byte((int)g.waypoint_index);					// 	8	bytes 16

ArduCopter/commands.pde

@@ -197,7 +197,7 @@ static void set_next_WP(struct Location *wp)
 
 	// set a new crosstrack bearing
 	// ----------------------------
-	crosstrack_bearing 	= target_bearing;	// Used for track following
+	//crosstrack_bearing 	= target_bearing;	// Used for track following
 
 	gcs.print_current_waypoints();
 }

ArduCopter/navigation.pde

@@ -211,18 +211,19 @@ static long get_crosstrack_correction(void)
     return 0;
 }
 */
-
+/*
 static long cross_track_test()
 {
 	long temp = wrap_180(target_bearing - crosstrack_bearing);
 	return abs(temp);
 }
-
+*/
+/*
 static void reset_crosstrack()
 {
 	crosstrack_bearing 	= get_bearing(&current_loc, &next_WP);	// Used for track following
 }
-
+*/
 static long get_altitude_above_home(void)
 {
 	// This is the altitude above the home location

ArduCopter/system.pde

@@ -41,7 +41,7 @@ const struct Menu::command main_menu_commands[] PROGMEM = {
 };
 
 // Create the top-level menu object.
-MENU(main_menu, "ArduCopter 2.0.42 Beta", main_menu_commands);
+MENU(main_menu, "ArduCopter 2.0.43 Beta", main_menu_commands);
 
 #endif // CLI_ENABLED
 
@@ -362,7 +362,7 @@ static void set_mode(byte mode)
 	led_mode = NORMAL_LEDS;
 
 	// most modes do not calculate crosstrack correction
-	xtrack_enabled = false;
+	//xtrack_enabled = false;
 	reset_nav_I();
 
 	switch(control_mode)
@@ -411,7 +411,7 @@ static void set_mode(byte mode)
 
 			// do crosstrack correction
 			// XXX move to flight commands
-			xtrack_enabled = true;
+			//xtrack_enabled = true;
 			break;
 
 		case CIRCLE:
@@ -437,7 +437,7 @@ static void set_mode(byte mode)
 			roll_pitch_mode = ROLL_PITCH_AUTO;
 			throttle_mode 	= THROTTLE_AUTO;
 
-			xtrack_enabled = true;
+			//xtrack_enabled = true;
 			init_throttle_cruise();
 			next_WP = current_loc;
 			break;
@@ -447,7 +447,7 @@ static void set_mode(byte mode)
 			roll_pitch_mode = RTL_RP;
 			throttle_mode 	= RTL_THR;
 
-			xtrack_enabled = true;
+			//xtrack_enabled = true;
 			init_throttle_cruise();
 			do_RTL();
 			break;