From d1e257d5b68f98420d187ebf0af0157d8b78100c Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Mon, 1 Aug 2016 11:24:13 +0900
Subject: [PATCH] Copter: remove unused get_throttle_pre_takeoff
---
ArduCopter/Attitude.cpp | 33 ---------------------------------
ArduCopter/Copter.h | 1 -
2 files changed, 34 deletions(-)
diff --git a/ArduCopter/Attitude.cpp b/ArduCopter/Attitude.cpp
index 294fddcd3e..9f414b538e 100644
--- a/ArduCopter/Attitude.cpp
+++ b/ArduCopter/Attitude.cpp
@@ -212,39 +212,6 @@ float Copter::get_takeoff_trigger_throttle()
return channel_throttle->get_control_mid() + g.takeoff_trigger_dz;
}
-// get_throttle_pre_takeoff - convert pilot's input throttle to a throttle output (in the range 0 to 1) before take-off
-// used only for althold, loiter, hybrid flight modes
-float Copter::get_throttle_pre_takeoff(float input_thr)
-{
- // exit immediately if input_thr is zero
- if (input_thr <= 0.0f) {
- return 0.0f;
- }
-
- // ensure reasonable throttle values
- input_thr = constrain_float(input_thr,0.0f,1000.0f);
-
- float in_min = 0.0f;
- float in_max = get_takeoff_trigger_throttle();
-
- float out_min = 0.0f;
- float out_max = get_non_takeoff_throttle();
-
- if ((g.throttle_behavior & THR_BEHAVE_FEEDBACK_FROM_MID_STICK) != 0) {
- in_min = channel_throttle->get_control_mid();
- }
-
- float input_range = in_max-in_min;
- float output_range = out_max-out_min;
-
- // sanity check ranges
- if (input_range <= 0.0f || output_range <= 0.0f) {
- return 0.0f;
- }
-
- return constrain_float(out_min + (input_thr-in_min)*output_range/input_range, out_min, out_max);
-}
-
// get_surface_tracking_climb_rate - hold copter at the desired distance above the ground
// returns climb rate (in cm/s) which should be passed to the position controller
float Copter::get_surface_tracking_climb_rate(int16_t target_rate, float current_alt_target, float dt)
diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index 87b524cd18..c7a4f04331 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -651,7 +651,6 @@ private:
float get_pilot_desired_climb_rate(float throttle_control);
float get_non_takeoff_throttle();
float get_takeoff_trigger_throttle();
- float get_throttle_pre_takeoff(float input_thr);
float get_surface_tracking_climb_rate(int16_t target_rate, float current_alt_target, float dt);
void auto_takeoff_set_start_alt(void);
void auto_takeoff_attitude_run(float target_yaw_rate);