From 34a5c46bfdf991cd5475abb6d8336d1fb6b3511e Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Tue, 4 Aug 2015 14:48:50 +0900 Subject: [PATCH] AC_WPNav: remove unused definitions --- libraries/AC_WPNav/AC_WPNav.h | 8 +------- 1 file changed, 1 insertion(+), 7 deletions(-) diff --git a/libraries/AC_WPNav/AC_WPNav.h b/libraries/AC_WPNav/AC_WPNav.h index c4a3197208..dede72d2d2 100644 --- a/libraries/AC_WPNav/AC_WPNav.h +++ b/libraries/AC_WPNav/AC_WPNav.h @@ -33,13 +33,7 @@ #define WPNAV_WP_FAST_OVERSHOOT_MAX 200.0f // 2m overshoot is allowed during fast waypoints to allow for smooth transitions to next waypoint -#if HAL_CPU_CLASS < HAL_CPU_CLASS_75 || CONFIG_HAL_BOARD == HAL_BOARD_SITL - # define WPNAV_LOITER_UPDATE_TIME 0.095f // 10hz update rate on low speed CPUs (APM1, APM2) - # define WPNAV_WP_UPDATE_TIME 0.095f // 10hz update rate on low speed CPUs (APM1, APM2) -#else - # define WPNAV_LOITER_UPDATE_TIME 0.020f // 50hz update rate on high speed CPUs (Pixhawk, Flymaple) - # define WPNAV_WP_UPDATE_TIME 0.020f // 50hz update rate on high speed CPUs (Pixhawk, Flymaple) -#endif +#define WPNAV_LOITER_UPDATE_TIME 0.020f // 50hz update rate for loiter #define WPNAV_LOITER_ACTIVE_TIMEOUT_MS 200 // loiter controller is considered active if it has been called within the past 200ms (0.2 seconds)