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Copter: remove unused altitude error

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Randy Mackay 2014-01-10 16:21:10 +09:00 committed by Andrew Tridgell
parent e69eeea246
commit b34664ea07
2 changed files with 0 additions and 13 deletions
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10
ArduCopter/ArduCopter.pde
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@ -641,8 +641,6 @@ static AP_BattMonitor battery;
////////////////////////////////////////////////////////////////////////////////
// The (throttle) controller desired altitude in cm
static float controller_desired_alt;
// The cm we are off in altitude from next_WP.alt – Positive value means we are below the WP
static int32_t altitude_error;
// The cm/s we are moving up or down based on filtered data - Positive = UP
static int16_t climb_rate;
// The altitude as reported by Sonar in cm – Values are 20 to 700 generally.
@ -1915,7 +1913,6 @@ bool set_throttle_mode( uint8_t new_throttle_mode )
case THROTTLE_MANUAL:
case THROTTLE_MANUAL_TILT_COMPENSATED:
throttle_accel_deactivate(); // this controller does not use accel based throttle controller
altitude_error = 0; // clear altitude error reported to GCS
throttle_initialised = true;
break;
@ -1939,7 +1936,6 @@ bool set_throttle_mode( uint8_t new_throttle_mode )
#if FRAME_CONFIG == HELI_FRAME
case THROTTLE_MANUAL_HELI:
throttle_accel_deactivate(); // this controller does not use accel based throttle controller
altitude_error = 0; // clear altitude error reported to GCS
throttle_initialised = true;
break;
#endif
@ -2117,12 +2113,6 @@ static void set_target_alt_for_reporting(float alt_cm)
target_alt_for_reporting = alt_cm;
}
// get_target_alt_for_reporting - returns target altitude in cm for reporting purposes (logs and gcs)
static float get_target_alt_for_reporting()
{
return target_alt_for_reporting;
}
static void read_AHRS(void)
{
// Perform IMU calculations and get attitude info

3
ArduCopter/Attitude.pde
View File

@ -1026,9 +1026,6 @@ get_throttle_althold(int32_t target_alt, int16_t min_climb_rate, int16_t max_cli
// call rate based throttle controller which will update accel based throttle controller targets
get_throttle_rate(desired_rate);
// update altitude error reported to GCS
altitude_error = alt_error;
// TO-DO: enabled PID logging for this controller
}