From 3b0373afdad605857fd3e11428e13563b0f88379 Mon Sep 17 00:00:00 2001 From: Dennis Mannhart Date: Thu, 28 Dec 2017 20:50:50 +0100 Subject: [PATCH] FlightTaskManual: remove unused methods --- .../FlightTasks/tasks/FlightTaskManual.cpp | 30 ------------------- 1 file changed, 30 deletions(-) diff --git a/src/lib/FlightTasks/tasks/FlightTaskManual.cpp b/src/lib/FlightTasks/tasks/FlightTaskManual.cpp index d5c1e8d282..cba534739c 100644 --- a/src/lib/FlightTasks/tasks/FlightTaskManual.cpp +++ b/src/lib/FlightTasks/tasks/FlightTaskManual.cpp @@ -67,8 +67,6 @@ bool FlightTaskManual::initializeSubscriptions(SubscriptionArray &subscription_a bool FlightTaskManual::activate() { bool ret = FlightTask::activate(); - _hold_position = Vector3f(NAN, NAN, NAN); - _hold_yaw = NAN; return ret; } @@ -93,34 +91,6 @@ bool FlightTaskManual::update() return true; } -float FlightTaskManual::_get_input_frame_yaw() -{ - /* using constant yaw angle from setpoint here to prevent sideways oscillation in fast forward flight */ - if (PX4_ISFINITE(_hold_yaw)) { - return _hold_yaw; - - } else { - return _yaw; - } -} - -void FlightTaskManual::_updateYaw() -{ - const float yaw_speed = _sticks(3) * math::radians(_man_yaw_max.get()); - _setYawspeedSetpoint(yaw_speed); - - const bool stick_yaw_zero = fabsf(yaw_speed) <= FLT_EPSILON; - - if (stick_yaw_zero && !PX4_ISFINITE(_hold_yaw)) { - _hold_yaw = _yaw; - - } else if (!stick_yaw_zero) { - _hold_yaw = NAN; - } - - _setYawSetpoint(_hold_yaw); -} - bool FlightTaskManual::_evaluateSticks() { /* Sticks are rescaled linearly and exponentially from [0,1] to [-1,1] */