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SITL: remove variable dead stores

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Peter Barker 2025-01-29 23:19:55 +11:00 committed by Peter Barker
parent f9d970c474
commit 99aff5f0cf
1 changed files with 2 additions and 4 deletions
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6
libraries/SITL/SIM_Helicopter.cpp
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@ -381,7 +381,6 @@ float Helicopter::update_rpm(float curr_rpm, float throttle, float &engine_torqu
static float rotor_runup_output; static float rotor_runup_output;
static uint8_t motor_status; static uint8_t motor_status;
float accel_scale; float accel_scale;
float input_torque;
float auto_ss_torque; float auto_ss_torque;
float descent_torque; float descent_torque;
float rotor_torque; float rotor_torque;
@ -390,7 +389,6 @@ float Helicopter::update_rpm(float curr_rpm, float throttle, float &engine_torqu
//use this to make rpm model more realistic //use this to make rpm model more realistic
accel_scale = 100.0f; accel_scale = 100.0f;
input_torque = 0.0f;
// calculate aerodynamic rotor drag torque // calculate aerodynamic rotor drag torque
rotor_torque = (sq(curr_rpm * 0.104667f) * (torque_mpog + torque_scale * powf(fabsf(collective),1.5f))) / izz; rotor_torque = (sq(curr_rpm * 0.104667f) * (torque_mpog + torque_scale * powf(fabsf(collective),1.5f))) / izz;
@ -415,13 +413,13 @@ float Helicopter::update_rpm(float curr_rpm, float throttle, float &engine_torqu
engine_torque = 1.20f * throttle * engine_torque_max; engine_torque = 1.20f * throttle * engine_torque_max;
// model clutch on gas heli // model clutch on gas heli
float input_torque;
if (throttle >= 0.15f && rpm_engine > curr_rpm) { if (throttle >= 0.15f && rpm_engine > curr_rpm) {
input_torque = engine_torque; input_torque = engine_torque;
} else { } else {
input_torque = 0.0f; input_torque = 0.0f;
} }
rpm_dot = 0.0f;
// help spool down quickly go to zero // help spool down quickly go to zero
if (throttle <= 0.15f && curr_rpm < 300) { if (throttle <= 0.15f && curr_rpm < 300) {
rpm_dot = - 40.0f; rpm_dot = - 40.0f;
@ -473,6 +471,7 @@ float Helicopter::update_rpm(float curr_rpm, float throttle, float &engine_torqu
engine_torque = 0.333f * rotor_runup_output * engine_torque_max; engine_torque = 0.333f * rotor_runup_output * engine_torque_max;
// manage input torque so descent torque combined with engine torque doesn't allow rotor to overspeed // manage input torque so descent torque combined with engine torque doesn't allow rotor to overspeed
float input_torque;
if (rotor_runup_output >= 1.0f && curr_rpm > nominal_rpm - 100.0f) { if (rotor_runup_output >= 1.0f && curr_rpm > nominal_rpm - 100.0f) {
// want the rpm to seek the nominal rpm so set the input torque to only be that for nominal RPM // want the rpm to seek the nominal rpm so set the input torque to only be that for nominal RPM
input_torque = rotor_torque * sq(nominal_rpm / curr_rpm); input_torque = rotor_torque * sq(nominal_rpm / curr_rpm);
@ -482,7 +481,6 @@ float Helicopter::update_rpm(float curr_rpm, float throttle, float &engine_torqu
input_torque = engine_torque + descent_torque; input_torque = engine_torque + descent_torque;
} }
rpm_dot = 0.0f;
// Help spool down quickly got to zero // Help spool down quickly got to zero
if (rotor_runup_output <= 0.0f && curr_rpm < 300) { if (rotor_runup_output <= 0.0f && curr_rpm < 300) {
rpm_dot = - 40.0f; rpm_dot = - 40.0f;