From 377030bd8a25f501c47aba573bf3125ad9061bd0 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Mon, 8 Dec 2014 14:20:11 +0100 Subject: [PATCH] mc att ctl: remove code which is already in base class --- .../mc_att_control/mc_att_control_main.cpp | 27 ------------------- 1 file changed, 27 deletions(-) diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp index 6ab4f95cd1..9dec6b8e6b 100644 --- a/src/modules/mc_att_control/mc_att_control_main.cpp +++ b/src/modules/mc_att_control/mc_att_control_main.cpp @@ -227,33 +227,6 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() : _loop_perf(perf_alloc(PC_ELAPSED, "mc_att_control")) { - memset(&_v_att, 0, sizeof(_v_att)); - memset(&_v_att_sp, 0, sizeof(_v_att_sp)); - memset(&_v_rates_sp, 0, sizeof(_v_rates_sp)); - memset(&_manual_control_sp, 0, sizeof(_manual_control_sp)); - memset(&_v_control_mode, 0, sizeof(_v_control_mode)); - memset(&_actuators, 0, sizeof(_actuators)); - memset(&_armed, 0, sizeof(_armed)); - - _params.att_p.zero(); - _params.rate_p.zero(); - _params.rate_i.zero(); - _params.rate_d.zero(); - _params.yaw_ff = 0.0f; - _params.yaw_rate_max = 0.0f; - _params.man_roll_max = 0.0f; - _params.man_pitch_max = 0.0f; - _params.man_yaw_max = 0.0f; - _params.acro_rate_max.zero(); - - _rates_prev.zero(); - _rates_sp.zero(); - _rates_int.zero(); - _thrust_sp = 0.0f; - _att_control.zero(); - - _I.identity(); - _params_handles.roll_p = param_find("MC_ROLL_P"); _params_handles.roll_rate_p = param_find("MC_ROLLRATE_P"); _params_handles.roll_rate_i = param_find("MC_ROLLRATE_I");