AP_MotorsMulticopter: remove apply_thrust_curve_and_volt_scaling_pwm

libraries/AP_Motors/AP_MotorsMulticopter.cpp

@@ -227,24 +227,6 @@ float AP_MotorsMulticopter::get_current_limit_max_throttle()
     return throttle_thrust_hover + ((1.0-throttle_thrust_hover)*_throttle_limit);
 }
 
-// apply_thrust_curve_and_volt_scaling - returns throttle curve adjusted pwm value (i.e. 1000 ~ 2000)
-int16_t AP_MotorsMulticopter::apply_thrust_curve_and_volt_scaling_pwm(int16_t pwm_out, int16_t pwm_min, int16_t pwm_max) const
-{
-    // convert to 0.0 to 1.0 ratio
-    float throttle_ratio = ((float)(pwm_out-pwm_min))/((float)(pwm_max-pwm_min));
-
-    // apply thrust curve - domain 0.0 to 1.0, range 0.0 to 1.0
-    if (_thrust_curve_expo > 0.0f){
-        throttle_ratio = ((_thrust_curve_expo-1.0f) + safe_sqrt((1.0f-_thrust_curve_expo)*(1.0f-_thrust_curve_expo) + 4.0f*_thrust_curve_expo*_lift_max*throttle_ratio))/(2.0f*_thrust_curve_expo*_batt_voltage_filt.get());
-    }
-
-    // scale to maximum thrust point
-    throttle_ratio *= _thrust_curve_max;
-
-    // convert back to pwm range, constrain and return
-    return (int16_t)constrain_float(throttle_ratio*(pwm_max-pwm_min)+pwm_min, pwm_min, (pwm_max-pwm_min)*_thrust_curve_max+pwm_min);
-}
-
 // apply_thrust_curve_and_volt_scaling - returns throttle in the range 0 ~ 1
 float AP_MotorsMulticopter::apply_thrust_curve_and_volt_scaling(float thrust) const
 {

libraries/AP_Motors/AP_MotorsMulticopter.h

@@ -136,8 +136,7 @@ protected:
     // return current_limit as a number from 0 ~ 1 in the range throttle_min to throttle_max
     float               get_current_limit_max_throttle();
 
-    // apply_thrust_curve_and_volt_scaling - thrust curve and voltage adjusted pwm value (i.e. 1000 ~ 2000)
-    int16_t             apply_thrust_curve_and_volt_scaling_pwm(int16_t pwm_out, int16_t pwm_min, int16_t pwm_max) const;
+    // apply_thrust_curve_and_volt_scaling - returns throttle in the range 0 ~ 1
     float               apply_thrust_curve_and_volt_scaling(float thrust) const;
 
     // update_lift_max_from_batt_voltage - used for voltage compensation