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Copter: remove unused init_rate_controllers

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This commit is contained in:
Randy Mackay 2013-11-08 15:54:23 +09:00
parent 6c5f2e6368
commit 43b0c4f0f4
2 changed files with 0 additions and 14 deletions
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9
ArduCopter/heli.pde
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@ -59,15 +59,6 @@ static void check_dynamic_flight(void)
}
}
// init_rate_controllers - set-up filters for rate controller inputs
void init_rate_controllers()
{
// initalise low pass filters on rate controller inputs
// 1st parameter is time_step, 2nd parameter is time_constant
// rate_roll_filter.set_cutoff_frequency(0.01f, 0.1f);
// rate_pitch_filter.set_cutoff_frequency(0.01f, 0.1f);
}
// heli_integrated_swash_controller - convert desired roll and pitch rate to roll and pitch swash angles
// should be called at 100hz
// output placed directly into g.rc_1.servo_out and g.rc_2.servo_out

5
ArduCopter/system.pde
View File

@ -234,11 +234,6 @@ static void init_ardupilot()
init_sonar();
#endif
#if FRAME_CONFIG == HELI_FRAME
// initialise controller filters
init_rate_controllers();
#endif // HELI_FRAME
// initialize commands
// -------------------
init_commands();