From 6d855fbaf01de4058bb51b00caad7308e499bcee Mon Sep 17 00:00:00 2001
From: Corvus Corax <corvuscorax@cybertrench.com>
Date: Tue, 21 Jan 2014 20:21:38 +0100
Subject: [PATCH] OP-1177 remove cc algorithm from altitude hold code

---
 flight/modules/AltitudeHold/altitudehold.c | 16 ----------------
 1 file changed, 16 deletions(-)

diff --git a/flight/modules/AltitudeHold/altitudehold.c b/flight/modules/AltitudeHold/altitudehold.c
index 3d71ee2b2..bf996d0d1 100644
--- a/flight/modules/AltitudeHold/altitudehold.c
+++ b/flight/modules/AltitudeHold/altitudehold.c
@@ -48,7 +48,6 @@
 #include <math.h>
 #include <pid.h>
 #include <CoordinateConversions.h>
-#include <attitudestate.h>
 #include <altitudeholdsettings.h>
 #include <altitudeholddesired.h> // object that will be updated by the module
 #include <altitudeholdstatus.h>
@@ -170,21 +169,6 @@ static void altitudeHoldTask(void)
         // velocity control loop
         throttle = startThrottle - pid_apply_setpoint(&pid1, 1.0f, altitudeHoldStatus.VelocityDesired, velocityStateDown, 1000.0f / DESIRED_UPDATE_RATE_MS);
 
-        // compensate throttle for current attitude
-        // Rbe[2][2] in the rotation matrix is the rotated down component of a
-        // 0,0,1 vector
-        // it is used to scale the throttle, but only up to 4 times the regular
-        // throttle
-        AttitudeStateData attitudeState;
-        AttitudeStateGet(&attitudeState);
-        float Rbe[3][3];
-        Quaternion2R(&attitudeState.q1, Rbe);
-        if (fabsf(Rbe[2][2]) > 0.25f) {
-            throttle /= Rbe[2][2];
-        } else {
-            throttle /= 0.25f;
-        }
-
         if (throttle >= 1.0f) {
             throttle = 1.0f;
         }