Mirrors_Framework/PX4-Autopilot
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removed unused code

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This commit is contained in:
Andreas Antener
2016-07-14 15:34:04 +02:00
parent deeefe5dd1
commit ae533b01b6
1 changed files with 0 additions and 9 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
-9
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@@ -253,7 +253,6 @@ private:
math::Vector<3> _vel_prev; /**< velocity on previous step */
math::Vector<3> _vel_ff;
math::Vector<3> _vel_sp_prev;
math::Vector<3> _thrust_sp_prev;
math::Vector<3> _vel_err_d; /**< derivative of current velocity */
math::Matrix<3, 3> _R; /**< rotation matrix from attitude quaternions */
@@ -2056,14 +2055,6 @@ MulticopterPositionControl::task_main()
R_sp.from_euler(roll_new, pitch_new, _att_sp.yaw_body);
memcpy(&_att_sp.R_body[0], R_sp.data, sizeof(_att_sp.R_body));
/* reset the acceleration set point for all non-attitude flight modes */
if (!(_control_mode.flag_control_offboard_enabled &&
!(_control_mode.flag_control_position_enabled ||
_control_mode.flag_control_velocity_enabled))) {
_thrust_sp_prev = R_sp * math::Vector<3>(0, 0, -_att_sp.thrust);
}
}
/* copy quaternion setpoint to attitude setpoint topic */