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Code Issues Releases Activity

Removed obsolete (unused) code

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Werner Backes 2013-06-29 12:26:28 +02:00 committed by Alessio Morale
parent 45ed66414f
commit 723f308ac7
2 changed files with 7 additions and 13 deletions
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18
flight/modules/AltitudeHold/altitudehold.c
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@ -238,17 +238,13 @@ static void altitudeHoldTask(__attribute__((unused)) void *parameters)
x[0] = baro.Altitude;
// rotate avg accels into earth frame and store it
if (1) {
float q[4], Rbe[3][3];
q[0] = attitudeState.q1;
q[1] = attitudeState.q2;
q[2] = attitudeState.q3;
q[3] = attitudeState.q4;
Quaternion2R(q, Rbe);
x[1] = -(Rbe[0][2] * accelState.x + Rbe[1][2] * accelState.y + Rbe[2][2] * accelState.z + 9.81f);
} else {
x[1] = -accelState.z + 9.81f;
}
float q[4], Rbe[3][3];
q[0] = attitudeState.q1;
q[1] = attitudeState.q2;
q[2] = attitudeState.q3;
q[3] = attitudeState.q4;
Quaternion2R(q, Rbe);
x[1] = -(Rbe[0][2] * accelState.x + Rbe[1][2] * accelState.y + Rbe[2][2] * accelState.z + 9.81f);
dT = PIOS_DELAY_DiffuS(timeval) / 1.0e6f;
timeval = PIOS_DELAY_GetRaw();

2
flight/modules/ManualControl/manualcontrol.c
View File

@ -856,8 +856,6 @@ static void altitudeHoldDesired(ManualControlCommandData *cmd, bool changed)
altitudeHoldDesiredData.Pitch = cmd->Pitch * stabSettings.PitchMax;
altitudeHoldDesiredData.Yaw = cmd->Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW];
float currentDown;
PositionStateDownGet(&currentDown);
if (changed) {
// After not being in this mode for a while init at current height
AltHoldSmoothedData altHold;