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Copter: remove unused get_throttle_pre_takeoff

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This commit is contained in:
Randy Mackay 2016-08-01 11:24:13 +09:00
parent cb5d3238cb
commit d1e257d5b6
2 changed files with 0 additions and 34 deletions
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33
ArduCopter/Attitude.cpp
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@ -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)

1
ArduCopter/Copter.h
View File

@ -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);