pitch controller: removed turn offset compensation form pitch controller

- turn compensation is included in the desired yawrate

Signed-off-by: Roman <bapstroman@gmail.com>

attitude_fw/ecl_pitch_controller.cpp

@@ -112,51 +112,6 @@ float ECL_PitchController::control_bodyrate(const struct ECL_ControlData &ctl_da
 		lock_integrator = true;
 	}
 
-	/* apply turning offset to desired bodyrate setpoint*/
-	/* flying inverted (wings upside down)*/
-	bool inverted = false;
-	float constrained_roll;
-
-	/* roll is used as feedforward term and inverted flight needs to be considered */
-	if (fabsf(ctl_data.roll) < math::radians(90.0f)) {
-		/* not inverted, but numerically still potentially close to infinity */
-		constrained_roll = math::constrain(ctl_data.roll, -fabsf(ctl_data.roll_setpoint), fabsf(ctl_data.roll_setpoint));
-
-	} else {
-		/* inverted flight, constrain on the two extremes of -pi..+pi to avoid infinity */
-		inverted = true;
-
-		/* note: the ranges are extended by 10 deg here to avoid numeric resolution effects */
-		if (ctl_data.roll > 0.0f) {
-			/* right hemisphere */
-			constrained_roll = math::constrain(ctl_data.roll, math::radians(100.0f), math::radians(180.0f));
-
-		} else {
-			/* left hemisphere */
-			constrained_roll = math::constrain(ctl_data.roll, math::radians(-100.0f), math::radians(-180.0f));
-		}
-	}
-
-	/* input conditioning */
-	float airspeed = constrain_airspeed(ctl_data.airspeed, ctl_data.airspeed_min, ctl_data.airspeed_max);
-
-	if (ctl_data.do_turn_compensation) {
-		/* Calculate desired body fixed y-axis angular rate needed to compensate for roll angle.
-		   For reference see Automatic Control of Aircraft and Missiles by John H. Blakelock, pg. 175
-		   Availible on google books 8/11/2015:
-		   https://books.google.com/books?id=ubcczZUDCsMC&pg=PA175#v=onepage&q&f=false*/
-		float body_fixed_turn_offset = (fabsf((CONSTANTS_ONE_G / airspeed) *
-						tanf(constrained_roll) * sinf(constrained_roll)));
-
-		if (inverted) {
-			body_fixed_turn_offset = -body_fixed_turn_offset;
-		}
-
-		/* Finally add the turn offset to your bodyrate setpoint*/
-		_bodyrate_setpoint += body_fixed_turn_offset;
-	}
-
-
 	_rate_error = _bodyrate_setpoint - ctl_data.body_y_rate;
 
 	if (!lock_integrator && _k_i > 0.0f) {