From f8d1a352cf1b3f8413d0fd3f064a9496806b9be1 Mon Sep 17 00:00:00 2001 From: Felix Ruess Date: Mon, 16 Dec 2013 19:05:03 +0100 Subject: [PATCH] [rotorcraft] removed unused fms input from guidance_v --- sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c | 9 --------- 1 file changed, 9 deletions(-) diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c index b9a5fcabe8..337678d498 100644 --- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c +++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c @@ -256,11 +256,6 @@ void guidance_v_run(bool_t in_flight) { break; case GUIDANCE_V_MODE_CLIMB: -#if USE_FMS - if (fms.enabled && fms.input.v_mode == GUIDANCE_V_MODE_CLIMB) { - guidance_v_zd_sp = fms.input.v_sp.climb; - } -#endif gv_update_ref_from_zd_sp(guidance_v_zd_sp); run_hover_loop(in_flight); #if NO_RC_THRUST_LIMIT @@ -272,10 +267,6 @@ void guidance_v_run(bool_t in_flight) { break; case GUIDANCE_V_MODE_HOVER: -#if USE_FMS - if (fms.enabled && fms.input.v_mode == GUIDANCE_V_MODE_HOVER) - guidance_v_z_sp = fms.input.v_sp.height; -#endif guidance_v_zd_sp = 0; gv_update_ref_from_z_sp(guidance_v_z_sp); run_hover_loop(in_flight);