From 66b8f7ec5b4400f622be546f495d4931c3124530 Mon Sep 17 00:00:00 2001 From: Andreas Antener Date: Sat, 11 Feb 2017 10:27:53 +0100 Subject: [PATCH] Removed obsolete fields from ECL control data --- attitude_fw/ecl_controller.h | 6 ------ attitude_fw/ecl_yaw_controller.cpp | 3 --- 2 files changed, 9 deletions(-) diff --git a/attitude_fw/ecl_controller.h b/attitude_fw/ecl_controller.h index 4aa9621394..e28616ed94 100644 --- a/attitude_fw/ecl_controller.h +++ b/attitude_fw/ecl_controller.h @@ -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; diff --git a/attitude_fw/ecl_yaw_controller.cpp b/attitude_fw/ecl_yaw_controller.cpp index 9feb80ab58..52c1bab4c5 100644 --- a/attitude_fw/ecl_yaw_controller.cpp +++ b/attitude_fw/ecl_yaw_controller.cpp @@ -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;