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AC_WPNav: remove unused PID references

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Randy Mackay 2014-01-25 22:33:03 +09:00 committed by Andrew Tridgell
parent b1449d59ee
commit d4e4620159
2 changed files with 2 additions and 9 deletions
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6
libraries/AC_WPNav/AC_WPNav.cpp
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@ -68,15 +68,11 @@ const AP_Param::GroupInfo AC_WPNav::var_info[] PROGMEM = {
// Note that the Vector/Matrix constructors already implicitly zero // Note that the Vector/Matrix constructors already implicitly zero
// their values. // their values.
// //
AC_WPNav::AC_WPNav(const AP_InertialNav* inav, const AP_AHRS* ahrs, AC_PosControl& pos_control, AC_WPNav::AC_WPNav(const AP_InertialNav* inav, const AP_AHRS* ahrs, AC_PosControl& pos_control, APM_PI* pid_pos_lat) :
APM_PI* pid_pos_lat, APM_PI* pid_pos_lon, AC_PID* pid_rate_lat, AC_PID* pid_rate_lon) :
_inav(inav), _inav(inav),
_ahrs(ahrs), _ahrs(ahrs),
_pos_control(pos_control), _pos_control(pos_control),
_pid_pos_lat(pid_pos_lat), _pid_pos_lat(pid_pos_lat),
_pid_pos_lon(pid_pos_lon),
_pid_rate_lat(pid_rate_lat),
_pid_rate_lon(pid_rate_lon),
_loiter_last_update(0), _loiter_last_update(0),
_loiter_step(0), _loiter_step(0),
_pilot_accel_fwd_cms(0), _pilot_accel_fwd_cms(0),

5
libraries/AC_WPNav/AC_WPNav.h
View File

@ -40,7 +40,7 @@ class AC_WPNav
public: public:
/// Constructor /// Constructor
AC_WPNav(const AP_InertialNav* inav, const AP_AHRS* ahrs, AC_PosControl& pos_control, APM_PI* pid_pos_lat, APM_PI* pid_pos_lon, AC_PID* pid_rate_lat, AC_PID* pid_rate_lon); AC_WPNav(const AP_InertialNav* inav, const AP_AHRS* ahrs, AC_PosControl& pos_control, APM_PI* pid_pos_lat);
/// ///
/// loiter controller /// loiter controller
@ -166,9 +166,6 @@ protected:
// pointers to pid controllers // pointers to pid controllers
APM_PI* const _pid_pos_lat; APM_PI* const _pid_pos_lat;
APM_PI* const _pid_pos_lon;
AC_PID* const _pid_rate_lat;
AC_PID* const _pid_rate_lon;
// parameters // parameters
AP_Float _loiter_speed_cms; // maximum horizontal speed in cm/s while in loiter AP_Float _loiter_speed_cms; // maximum horizontal speed in cm/s while in loiter