From 2e7435df52cf92ba53a5e95108d7a51505fad943 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Wed, 31 Dec 2014 02:31:58 +0900 Subject: [PATCH] Copter: remove unused OF_LOITER pid defines --- ArduCopter/APM_Config.h | 2 +- ArduCopter/config.h | 22 ---------------------- 2 files changed, 1 insertion(+), 23 deletions(-) diff --git a/ArduCopter/APM_Config.h b/ArduCopter/APM_Config.h index 9045bb97a4..0f59168281 100644 --- a/ArduCopter/APM_Config.h +++ b/ArduCopter/APM_Config.h @@ -33,7 +33,7 @@ //#define EPM_ENABLED ENABLED // enable epm cargo gripper costs 500bytes of flash //#define CLI_ENABLED ENABLED // enable the CLI (command-line-interface) at a cost of 21K of flash space //#define NAV_GUIDED ENABLED // enable external navigation computer to control vehicle through MAV_CMD_NAV_GUIDED mission commands -//#define OPTFLOW ENABLED // enable optical flow sensor and OF_LOITER flight mode at a cost of 5K of flash space +//#define OPTFLOW ENABLED // enable optical flow sensor at a cost of 5K of flash space // features below are disabled by default on all boards //#define SPRAYER ENABLED // enable the crop sprayer feature (two ESC controlled pumps the speed of which depends upon the vehicle's horizontal velocity) diff --git a/ArduCopter/config.h b/ArduCopter/config.h index 695188663e..bac32fc720 100644 --- a/ArduCopter/config.h +++ b/ArduCopter/config.h @@ -394,28 +394,6 @@ # define OPTFLOW DISABLED #endif #endif -// optical flow based loiter PI values -#ifndef OPTFLOW_ROLL_P - #define OPTFLOW_ROLL_P 2.5f -#endif -#ifndef OPTFLOW_ROLL_I - #define OPTFLOW_ROLL_I 0.5f -#endif -#ifndef OPTFLOW_ROLL_D - #define OPTFLOW_ROLL_D 0.12f -#endif -#ifndef OPTFLOW_PITCH_P - #define OPTFLOW_PITCH_P 2.5f -#endif -#ifndef OPTFLOW_PITCH_I - #define OPTFLOW_PITCH_I 0.5f -#endif -#ifndef OPTFLOW_PITCH_D - #define OPTFLOW_PITCH_D 0.12f -#endif -#ifndef OPTFLOW_IMAX - #define OPTFLOW_IMAX 100 -#endif ////////////////////////////////////////////////////////////////////////////// // Auto Tuning