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ArduCopter: more out-of-date commented out code removed

This commit is contained in:
rmackay9 2012-10-17 19:25:14 +09:00
parent 25b3acab8c
commit a4a2fad798
1 changed files with 0 additions and 43 deletions
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43
ArduCopter/ArduCopter.pde
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@ -1850,20 +1850,6 @@ void update_throttle_mode(void)
case THROTTLE_HOLD: case THROTTLE_HOLD:
// allow interactive changing of atitude // allow interactive changing of atitude
/*
if(g.rc_3.control_in < 200) {
reset_throttle_counter = 150;
nav_throttle = get_throttle_rate(-120);
g.rc_3.servo_out = g.throttle_cruise + nav_throttle + angle_boost;
break;
}else if (g.rc_3.control_in > 800) {
reset_throttle_counter = 50;
nav_throttle = get_throttle_rate(180);
g.rc_3.servo_out = g.throttle_cruise + nav_throttle + angle_boost;
break;
}
*/
if(g.rc_3.radio_in < (g.rc_3.radio_min + 200)){ if(g.rc_3.radio_in < (g.rc_3.radio_min + 200)){
int16_t _rate = 120 - (((g.rc_3.radio_in - g.rc_3.radio_min) * 12) / 20); int16_t _rate = 120 - (((g.rc_3.radio_in - g.rc_3.radio_min) * 12) / 20);
reset_throttle_counter = 150; reset_throttle_counter = 150;
@ -2275,27 +2261,6 @@ static void update_altitude_est()
//Serial.printf(" %d, %d, %d, %d\n", climb_rate_actual, climb_rate_error, climb_rate, current_loc.alt); //Serial.printf(" %d, %d, %d, %d\n", climb_rate_actual, climb_rate_error, climb_rate, current_loc.alt);
} }
/*
* #define THROTTLE_ADJUST 225
* static void
* adjust_altitude()
* {
* if(g.rc_3.control_in <= (g.throttle_min + THROTTLE_ADJUST)){
* // we remove 0 to 100 PWM from hover
* manual_boost = (g.rc_3.control_in - g.throttle_min) - THROTTLE_ADJUST;
* manual_boost = max(-THROTTLE_ADJUST, manual_boost);
*
* }else if (g.rc_3.control_in >= (g.throttle_max - THROTTLE_ADJUST)){
* // we add 0 to 100 PWM to hover
* manual_boost = g.rc_3.control_in - (g.throttle_max - THROTTLE_ADJUST);
* manual_boost = min(THROTTLE_ADJUST, manual_boost);
*
* }else {
* manual_boost = 0;
* }
* }
*/
static void tuning(){ static void tuning(){
tuning_value = (float)g.rc_6.control_in / 1000.0; tuning_value = (float)g.rc_6.control_in / 1000.0;
g.rc_6.set_range(g.radio_tuning_low,g.radio_tuning_high); // 0 to 1 g.rc_6.set_range(g.radio_tuning_low,g.radio_tuning_high); // 0 to 1
@ -2539,11 +2504,3 @@ static void update_auto_yaw()
auto_yaw = original_target_bearing; auto_yaw = original_target_bearing;
} }
} }
/*
* MAV_ROI_NONE=0, No region of interest. |
* MAV_ROI_WPNEXT=1, Point toward next MISSION. |
* MAV_ROI_WPINDEX=2, Point toward given MISSION. |
* MAV_ROI_LOCATION=3, Point toward fixed location. |
* MAV_ROI_TARGET=4, Point toward of given id.
* MAV_ROI_ENUM_END=5,
*/