FixedwingPositionControl update copyright and control_task

src/modules/fw_pos_control_l1/CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2015-2017 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions

src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp

@@ -31,35 +31,14 @@
  *
  ****************************************************************************/
 
-
-/**
- * @file fw_pos_control_l1_main.c
- * Implementation of a generic position controller based on the L1 norm. Outputs a bank / roll
- * angle, equivalent to a lateral motion (for copters and rovers).
- *
- * Original publication for horizontal control class:
- *    S. Park, J. Deyst, and J. P. How, "A New Nonlinear Guidance Logic for Trajectory Tracking,"
- *    Proceedings of the AIAA Guidance, Navigation and Control
- *    Conference, Aug 2004. AIAA-2004-4900.
- *
- * Original implementation for total energy control class:
- *    Paul Riseborough and Andrew Tridgell, 2013 (code in lib/external_lgpl)
- *
- * More details and acknowledgements in the referenced library headers.
- *
- * @author Lorenz Meier <lm@inf.ethz.ch>
- * @author Thomas Gubler <thomasgubler@gmail.com>
- * @author Andreas Antener <andreas@uaventure.com>
- */
-
 #include "FixedwingPositionControl.hpp"
 
 extern "C" __EXPORT int fw_pos_control_l1_main(int argc, char *argv[]);
 
 FixedwingPositionControl *l1_control::g_control;
+static int _control_task = -1;			///< task handle for sensor task */
 
 FixedwingPositionControl::FixedwingPositionControl() :
-	/* performance counters */
 	_loop_perf(perf_alloc(PC_ELAPSED, "fw l1 control"))
 {
 	_parameter_handles.l1_period = param_find("FW_L1_PERIOD");

src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp

@@ -61,8 +61,6 @@
 
 #include "Landingslope.hpp"
 
-#include <arch/board/board.h>
-#include <drivers/drv_accel.h>
 #include <drivers/drv_hrt.h>
 #include <ecl/l1/ecl_l1_pos_controller.h>
 #include <external_lgpl/tecs/tecs.h>
@@ -86,8 +84,6 @@
 #include <uORB/uORB.h>
 #include <vtol_att_control/vtol_type.h>
 
-static int	_control_task = -1;			///< task handle for sensor task */
-
 #define HDG_HOLD_DIST_NEXT 			3000.0f 	// initial distance of waypoint in front of plane in heading hold mode
 #define HDG_HOLD_REACHED_DIST 		1000.0f 	// distance (plane to waypoint in front) at which waypoints are reset in heading hold mode
 #define HDG_HOLD_SET_BACK_DIST 		100.0f 		// distance by which previous waypoint is set behind the plane