From cac2c63e7229a1055074084bf491159685e5faf1 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 30 Jul 2024 21:51:31 +1000
Subject: [PATCH] AC_PID: remove method operator

remove the metho operator from the class.

This means this will no longer work:

Quaternion q{0,1,2,3};
q(5,6,7,8);

.... that used to set the quaternion componets, but is an odd / atypical syntax to use
---
 libraries/AC_PID/AC_P.h       |  3 ---
 libraries/AC_PID/AC_PID.cpp   | 14 --------------
 libraries/AC_PID/AC_PID.h     |  3 ---
 libraries/AC_PID/AC_PI_2D.cpp | 12 ------------
 libraries/AC_PID/AC_PI_2D.h   |  3 ---
 5 files changed, 35 deletions(-)

diff --git a/libraries/AC_PID/AC_P.h b/libraries/AC_PID/AC_P.h
index e067e445de..f172996677 100644
--- a/libraries/AC_PID/AC_P.h
+++ b/libraries/AC_PID/AC_P.h
@@ -53,9 +53,6 @@ public:
     /// @name	parameter accessors
     //@{
 
-    /// Overload the function call operator to permit relatively easy initialisation
-    void operator() (const float p) { _kp.set(p); }
-
     // accessors
     AP_Float    &kP() { return _kp; }
     const AP_Float &kP() const { return _kp; }
diff --git a/libraries/AC_PID/AC_PID.cpp b/libraries/AC_PID/AC_PID.cpp
index da70334996..ac7c32af34 100644
--- a/libraries/AC_PID/AC_PID.cpp
+++ b/libraries/AC_PID/AC_PID.cpp
@@ -390,20 +390,6 @@ void AC_PID::save_gains()
     _filt_D_hz.save();
 }
 
-/// Overload the function call operator to permit easy initialisation
-void AC_PID::operator()(float p_val, float i_val, float d_val, float ff_val, float imax_val, float input_filt_T_hz, float input_filt_E_hz, float input_filt_D_hz, float dff_val)
-{
-    _kp.set(p_val);
-    _ki.set(i_val);
-    _kd.set(d_val);
-    _kff.set(ff_val);
-    _kimax.set(fabsf(imax_val));
-    _filt_T_hz.set(input_filt_T_hz);
-    _filt_E_hz.set(input_filt_E_hz);
-    _filt_D_hz.set(input_filt_D_hz);
-    _kdff.set(dff_val);
-}
-
 // get_filt_T_alpha - get the target filter alpha
 float AC_PID::get_filt_T_alpha(float dt) const
 {
diff --git a/libraries/AC_PID/AC_PID.h b/libraries/AC_PID/AC_PID.h
index fbbebcac7d..2efbec3624 100644
--- a/libraries/AC_PID/AC_PID.h
+++ b/libraries/AC_PID/AC_PID.h
@@ -92,9 +92,6 @@ public:
     // save gain to eeprom
     void save_gains();
 
-    /// operator function call for easy initialisation
-    void operator()(float p_val, float i_val, float d_val, float ff_val, float imax_val, float input_filt_T_hz, float input_filt_E_hz, float input_filt_D_hz, float dff_val=0);
-
     // get accessors
     const AP_Float &kP() const { return _kp; }
     AP_Float &kP() { return _kp; }
diff --git a/libraries/AC_PID/AC_PI_2D.cpp b/libraries/AC_PID/AC_PI_2D.cpp
index e6c6362464..386982e6a6 100644
--- a/libraries/AC_PID/AC_PI_2D.cpp
+++ b/libraries/AC_PID/AC_PI_2D.cpp
@@ -151,18 +151,6 @@ void AC_PI_2D::save_gains()
     _filt_hz.save();
 }
 
-/// Overload the function call operator to permit easy initialisation
-void AC_PI_2D::operator() (float p, float i, float imaxval, float input_filt_hz, float dt)
-{
-    _kp.set(p);
-    _ki.set(i);
-    _imax.set(fabsf(imaxval));
-    _filt_hz.set(input_filt_hz);
-    _dt = dt;
-    // calculate the input filter alpha
-    calc_filt_alpha();
-}
-
 // calc_filt_alpha - recalculate the input filter alpha
 void AC_PI_2D::calc_filt_alpha()
 {
diff --git a/libraries/AC_PID/AC_PI_2D.h b/libraries/AC_PID/AC_PI_2D.h
index c031104531..f70d766fd7 100644
--- a/libraries/AC_PID/AC_PI_2D.h
+++ b/libraries/AC_PID/AC_PI_2D.h
@@ -47,9 +47,6 @@ public:
     // save gain to eeprom
     void save_gains();
 
-    /// operator function call for easy initialisation
-    void operator() (float p, float i, float imaxval, float input_filt_hz, float dt);
-
     // get accessors
     AP_Float &kP() { return _kp; }
     AP_Float &kI() { return _ki; }