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Copter: remove unused desired_climb_rate variable

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Peter Barker 2017-03-08 21:21:48 +11:00 committed by Randy Mackay
parent 8dc09440d8
commit 1d70a337dd
4 changed files with 0 additions and 10 deletions
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3
ArduCopter/Attitude.cpp
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@ -209,9 +209,6 @@ float Copter::get_pilot_desired_climb_rate(float throttle_control)
desired_rate = 0.0f; desired_rate = 0.0f;
} }
// desired climb rate for logging
desired_climb_rate = desired_rate;
return desired_rate; return desired_rate;
} }

1
ArduCopter/Copter.cpp
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@ -44,7 +44,6 @@ Copter::Copter(void) :
super_simple_cos_yaw(1.0), super_simple_cos_yaw(1.0),
super_simple_sin_yaw(0.0f), super_simple_sin_yaw(0.0f),
initial_armed_bearing(0), initial_armed_bearing(0),
desired_climb_rate(0),
loiter_time_max(0), loiter_time_max(0),
loiter_time(0), loiter_time(0),
#if FRSKY_TELEM_ENABLED == ENABLED #if FRSKY_TELEM_ENABLED == ENABLED

3
ArduCopter/Copter.h
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@ -402,9 +402,6 @@ private:
// Stores initial bearing when armed - initial simple bearing is modified in super simple mode so not suitable // Stores initial bearing when armed - initial simple bearing is modified in super simple mode so not suitable
int32_t initial_armed_bearing; int32_t initial_armed_bearing;
// Throttle variables
int16_t desired_climb_rate; // pilot desired climb rate - for logging purposes only
// Loiter control // Loiter control
uint16_t loiter_time_max; // How long we should stay in Loiter Mode for mission scripting (time in seconds) uint16_t loiter_time_max; // How long we should stay in Loiter Mode for mission scripting (time in seconds)
uint32_t loiter_time; // How long have we been loitering - The start time in millis uint32_t loiter_time; // How long have we been loitering - The start time in millis

3
ArduCopter/control_land.cpp
View File

@ -203,9 +203,6 @@ void Copter::land_run_vertical_control(bool pause_descent)
} }
} }
// record desired climb rate for logging
desired_climb_rate = cmb_rate;
// update altitude target and call position controller // update altitude target and call position controller
pos_control->set_alt_target_from_climb_rate_ff(cmb_rate, G_Dt, true); pos_control->set_alt_target_from_climb_rate_ff(cmb_rate, G_Dt, true);
pos_control->update_z_controller(); pos_control->update_z_controller();