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Removed obsolete fields from ECL control data

This commit is contained in:
Andreas Antener 2017-02-11 10:27:53 +01:00 committed by Lorenz Meier
parent 5363e8d307
commit 66b8f7ec5b
2 changed files with 0 additions and 9 deletions
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6
attitude_fw/ecl_controller.h
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@ -59,12 +59,6 @@ struct ECL_ControlData {
float body_x_rate;
float body_y_rate;
float body_z_rate;
float speed_body_u;
float speed_body_v;
float speed_body_w;
float acc_body_x;
float acc_body_y;
float acc_body_z;
float roll_setpoint;
float pitch_setpoint;
float yaw_setpoint;

3
attitude_fw/ecl_yaw_controller.cpp
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@ -81,9 +81,6 @@ float ECL_YawController::control_attitude_impl_openloop(const struct ECL_Control
/* Do not calculate control signal with bad inputs */
if (!(PX4_ISFINITE(ctl_data.roll) &&
PX4_ISFINITE(ctl_data.pitch) &&
PX4_ISFINITE(ctl_data.speed_body_u) &&
PX4_ISFINITE(ctl_data.speed_body_v) &&
PX4_ISFINITE(ctl_data.speed_body_w) &&
PX4_ISFINITE(ctl_data.roll_rate_setpoint) &&
PX4_ISFINITE(ctl_data.pitch_rate_setpoint))) {
return _rate_setpoint;