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AC_WPNav: removed brake's unused dt calc

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This commit is contained in:
Randy Mackay 2018-03-31 13:42:37 +09:00
parent 334ff0fb66
commit 032b4373f6
1 changed files with 0 additions and 6 deletions
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6
libraries/AC_WPNav/AC_WPNav.cpp
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@ -414,12 +414,6 @@ void AC_WPNav::init_brake_target(float accel_cmss)
// update_brake - run the stop controller - gets called at 400hz
void AC_WPNav::update_brake(float ekfGndSpdLimit, float ekfNavVelGainScaler)
{
// calculate dt
float dt = _pos_control.time_since_last_xy_update();
if (dt >= 0.2f) {
dt = 0.0f;
}
// send adjusted feed forward velocity back to position controller
_pos_control.set_desired_velocity_xy(0.0f, 0.0f);
_pos_control.update_xy_controller(ekfNavVelGainScaler);