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Code Issues Releases Activity

LP-89 - changes to adhere to LP code style and requirements.

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This commit is contained in:
Alessio Morale 2015-09-19 16:04:15 +02:00
parent d20d1ab295
commit 627185c0ce
1 changed files with 0 additions and 13 deletions
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13
flight/libraries/pid/pidcontroldown.cpp
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@ -41,7 +41,6 @@ extern "C" {
#include <paths.h>
#include "plans.h"
#include <stabilizationdesired.h>
// #include <pidstatus.h>
#include <vtolselftuningstats.h>
}
@ -348,7 +347,6 @@ float PIDControlDown::GetVelocityDesired(void)
float PIDControlDown::GetDownCommand(void)
{
// PIDStatusData pidStatus;
float ulow = mMinThrust;
float uhigh = mMaxThrust;
@ -356,17 +354,6 @@ float PIDControlDown::GetDownCommand(void)
mCallback->BoundThrust(ulow, uhigh);
}
float downCommand = pid2_apply(&PID, mVelocitySetpointCurrent, mVelocityState, ulow, uhigh);
// pidStatus.setpoint = mVelocitySetpointCurrent;
// pidStatus.actual = mVelocityState;
// pidStatus.error = mVelocitySetpointCurrent - mVelocityState;
// pidStatus.setpoint = mVelocitySetpointCurrent;
// pidStatus.ulow = ulow;
// pidStatus.uhigh = uhigh;
// pidStatus.command = downCommand;
// pidStatus.P = PID.P;
// pidStatus.I = PID.I;
// pidStatus.D = PID.D;
// PIDStatusSet(&pidStatus);
mDownCommand = downCommand;
return mDownCommand;
}