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Copter: remove unused reset_stability_I

This commit is contained in:
Randy Mackay 2013-09-24 12:59:18 +09:00
parent d7782e1356
commit e5535e35b3
2 changed files with 0 additions and 14 deletions
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1
ArduCopter/ArduCopter.pde
View File

@ -1821,7 +1821,6 @@ void update_roll_pitch_mode(void)
#if FRAME_CONFIG != HELI_FRAME #if FRAME_CONFIG != HELI_FRAME
if(g.rc_3.control_in == 0 && control_mode <= ACRO) { if(g.rc_3.control_in == 0 && control_mode <= ACRO) {
reset_rate_I(); reset_rate_I();
reset_stability_I();
} }
#endif //HELI_FRAME #endif //HELI_FRAME

13
ArduCopter/Attitude.pde
View File

@ -1379,12 +1379,8 @@ get_throttle_surface_tracking(int16_t target_rate)
static void reset_I_all(void) static void reset_I_all(void)
{ {
reset_rate_I(); reset_rate_I();
reset_stability_I();
reset_throttle_I(); reset_throttle_I();
reset_optflow_I(); reset_optflow_I();
// This is the only place we reset Yaw
g.pi_stabilize_yaw.reset_I();
} }
static void reset_rate_I() static void reset_rate_I()
@ -1406,7 +1402,6 @@ static void reset_throttle_I(void)
{ {
// For Altitude Hold // For Altitude Hold
g.pi_alt_hold.reset_I(); g.pi_alt_hold.reset_I();
g.pid_throttle_rate.reset_I();
g.pid_throttle_accel.reset_I(); g.pid_throttle_accel.reset_I();
} }
@ -1415,11 +1410,3 @@ static void set_accel_throttle_I_from_pilot_throttle(int16_t pilot_throttle)
// shift difference between pilot's throttle and hover throttle into accelerometer I // shift difference between pilot's throttle and hover throttle into accelerometer I
g.pid_throttle_accel.set_integrator(pilot_throttle-g.throttle_cruise); g.pid_throttle_accel.set_integrator(pilot_throttle-g.throttle_cruise);
} }
static void reset_stability_I(void)
{
// Used to balance a quad
// This only needs to be reset during Auto-leveling in flight
g.pi_stabilize_roll.reset_I();
g.pi_stabilize_pitch.reset_I();
}