ACM: Code Cleanup

This commit is contained in:
Robert Lefebvre 2012-11-30 17:05:12 -05:00
parent 1104287aa2
commit 9130045298
1 changed files with 1 additions and 42 deletions

View File

@ -1368,13 +1368,6 @@ static void super_slow_loop()
if (g.log_bitmask & MASK_LOG_CUR && motors.armed())
Log_Write_Current();
#if 0 //CENTER_THROTTLE == 1
// recalibrate the throttle_cruise to center on the sticks
g.rc_3.set_range((g.throttle_cruise - (MAXIMUM_THROTTLE - g.throttle_cruise)), MAXIMUM_THROTTLE);
g.rc_3.set_range_out(0,1000);
#endif
// this function disarms the copter if it has been sitting on the ground for any moment of time greater than 25 seconds
// but only of the control mode is manual
if((control_mode <= ACRO) && (g.rc_3.control_in == 0)) {
@ -1394,23 +1387,7 @@ static void super_slow_loop()
// agmatthews - USERHOOKS
#ifdef USERHOOK_SUPERSLOWLOOP
USERHOOK_SUPERSLOWLOOP
#endif
/*
* //cliSerial->printf("alt %d, next.alt %d, alt_err: %d, cruise: %d, Alt_I:%1.2f, wp_dist %d, tar_bear %d, home_d %d, homebear %d\n",
* current_loc.alt,
* next_WP.alt,
* altitude_error,
* g.throttle_cruise.get(),
* g.pi_alt_hold.get_integrator(),
* wp_distance,
* target_bearing,
* home_distance,
* home_to_copter_bearing);
*/
// debug
//dump_state();
#endif
}
// called at 100hz but data from sensor only arrives at 20 Hz
@ -1973,7 +1950,6 @@ static void update_altitude_est()
climb_rate += climb_rate_error;
current_loc.alt += (climb_rate / 50);
}
//cliSerial->printf(" %d, %d, %d, %d\n", climb_rate_actual, climb_rate_error, climb_rate, current_loc.alt);
}
static void tuning(){
@ -1997,11 +1973,6 @@ static void tuning(){
g.pi_stabilize_pitch.kI(tuning_value);
break;
//case CH6_DAMP:
//case CH6_STABILIZE_KD:
//g.stabilize_d = tuning_value;
//break;
case CH6_ACRO_KP:
g.acro_p = tuning_value;
break;
@ -2154,10 +2125,6 @@ static void update_nav_wp()
// sum the angle around the WP
loiter_sum += loiter_delta;
// create a virtual waypoint that circles the next_WP
// Count the degrees we have circulated the WP
//int16_t circle_angle = wrap_360(target_bearing + 3000 + 18000) / 100;
circle_angle += (circle_rate * dTnav);
//1° = 0.0174532925 radians
@ -2180,14 +2147,6 @@ static void update_nav_wp()
calc_loiter(long_error, lat_error);
}
//CIRCLE: angle:29, dist:0, lat:400, lon:242
// debug
//int16_t angleTest = degrees(circle_angle);
//int16_t nroll = nav_roll;
//int16_t npitch = nav_pitch;
//cliSerial->printf("CIRCLE: angle:%d, dist:%d, X:%d, Y:%d, P:%d, R:%d \n", angleTest, (int)wp_distance , (int)long_error, (int)lat_error, npitch, nroll);
}else if(wp_control == WP_MODE) {
// calc error to target
calc_location_error(&next_WP);