Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

Plane: remove code that can never run

Browse Source
This commit is contained in:
Paul Riseborough 2023-08-20 20:20:44 +10:00 committed by Andrew Tridgell
parent 98220c7315
commit c15bb3f1e3
1 changed files with 0 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
ArduPlane/quadplane.cpp
View File

@ -2923,14 +2923,6 @@ void QuadPlane::vtol_position_controller(void)
}
void QuadPlane::assign_tilt_to_fwd_thr(void) {
#if QAUTOTUNE_ENABLED
if (plane.control_mode == &plane.mode_qautotune) {
// limiting forward pitch and using forward throttle or rotor tilt is incompatible with auto-tune
q_fwd_throttle = 0.0f;
q_fwd_nav_pitch_lim_cd = -aparm.angle_max;
return;
}
#endif
if (is_positive(q_fwd_thr_gain) && is_positive(q_fwd_tilt_lim)) {
// Handle the case where we are limiting the forward pitch angle to prevent negative wing lift
// and are using the forward thrust motor or tilting rotors to provide the forward acceleration