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APM: Removed unused YAW_DAMPENER code. 

YAW_DAMPENER was defined as zero
This commit is contained in:
Jonathan Challinger 2012-07-16 20:29:36 -07:00 committed by Andrew Tridgell
parent d9d055ef78
commit c7da63509b
1 changed files with 0 additions and 14 deletions
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14
ArduPlane/Attitude.pde
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@ -198,8 +198,6 @@ static void calc_nav_pitch()
}
#define YAW_DAMPENER 0
static void calc_nav_roll()
{
// negative error = left turn
@ -208,18 +206,6 @@ static void calc_nav_roll()
// ----------------------------------------
nav_roll = g.pidNavRoll.get_pid(bearing_error); //returns desired bank angle in degrees*100
nav_roll = constrain(nav_roll, -g.roll_limit.get(), g.roll_limit.get());
Vector3f omega;
omega = ahrs.get_gyro();
// rate limiter
long rate = degrees(omega.z) * 100; // 3rad = 17188 , 6rad = 34377
rate = constrain(rate, -6000, 6000); // limit input
int dampener = rate * YAW_DAMPENER; // 34377 * .175 = 6000
// add in yaw dampener
nav_roll -= dampener;
nav_roll = constrain(nav_roll, -g.roll_limit.get(), g.roll_limit.get());
}