FW landingslope delete unused (#7046)

src/modules/fw_pos_control_l1/landingslope.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012-2016 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2017 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
@@ -39,27 +39,10 @@
 
 #include "landingslope.h"
 
-#include <px4_config.h>
-#include <stdlib.h>
-#include <errno.h>
-#include <math.h>
-#include <unistd.h>
 #include <mathlib/mathlib.h>
 
-Landingslope::Landingslope() :
-	_landing_slope_angle_rad(0.0f),
-	_flare_relative_alt(0.0f),
-	_motor_lim_relative_alt(0.0f),
-	_H1_virt(0.0f),
-	_H0(0.0f),
-	_d1(0.0f),
-	_flare_constant(0.0f),
-	_flare_length(0.0f),
-	_horizontal_slope_displacement(0.0f)
-{
-}
-
-void Landingslope::update(float landing_slope_angle_rad_new,
+void
+Landingslope::update(float landing_slope_angle_rad_new,
 		     float flare_relative_alt_new,
 		     float motor_lim_relative_alt_new,
 		     float H1_virt_new)
@@ -73,7 +56,8 @@ void Landingslope::update(float landing_slope_angle_rad_new,
 	calculateSlopeValues();
 }
 
-void Landingslope::calculateSlopeValues()
+void
+Landingslope::calculateSlopeValues()
 {
 	_H0 =  _flare_relative_alt + _H1_virt;
 	_d1 = _flare_relative_alt / tanf(_landing_slope_angle_rad);
@@ -82,13 +66,15 @@ void Landingslope::calculateSlopeValues()
 	_horizontal_slope_displacement = (_flare_length - _d1);
 }
 
-float Landingslope::getLandingSlopeRelativeAltitude(float wp_landing_distance)
+float
+Landingslope::getLandingSlopeRelativeAltitude(float wp_landing_distance)
 {
 	return Landingslope::getLandingSlopeRelativeAltitude(wp_landing_distance, _horizontal_slope_displacement,
 			_landing_slope_angle_rad);
 }
 
-float Landingslope::getLandingSlopeRelativeAltitudeSave(float wp_landing_distance, float bearing_lastwp_currwp,
+float
+Landingslope::getLandingSlopeRelativeAltitudeSave(float wp_landing_distance, float bearing_lastwp_currwp,
 		float bearing_airplane_currwp)
 {
 	/* If airplane is in front of waypoint return slope altitude, else return waypoint altitude */
@@ -100,25 +86,8 @@ float Landingslope::getLandingSlopeRelativeAltitudeSave(float wp_landing_distanc
 	}
 }
 
-float Landingslope::getLandingSlopeAbsoluteAltitude(float wp_landing_distance, float wp_altitude)
-{
-	return Landingslope::getLandingSlopeAbsoluteAltitude(wp_landing_distance, wp_altitude, _horizontal_slope_displacement,
-			_landing_slope_angle_rad);
-}
-
-float Landingslope::getLandingSlopeAbsoluteAltitudeSave(float wp_landing_distance, float bearing_lastwp_currwp,
-		float bearing_airplane_currwp, float wp_altitude)
-{
-	/* If airplane is in front of waypoint return slope altitude, else return waypoint altitude */
-	if (fabsf(bearing_airplane_currwp - bearing_lastwp_currwp) < math::radians(90.0f)) {
-		return getLandingSlopeAbsoluteAltitude(wp_landing_distance, wp_altitude);
-
-	} else {
-		return wp_altitude;
-	}
-}
-
-float Landingslope::getFlareCurveRelativeAltitudeSave(float wp_landing_distance, float bearing_lastwp_currwp,
+float
+Landingslope::getFlareCurveRelativeAltitudeSave(float wp_landing_distance, float bearing_lastwp_currwp,
 		float bearing_airplane_currwp)
 {
 	/* If airplane is in front of waypoint return flare curve altitude, else return waypoint altitude */
@@ -129,12 +98,3 @@ float Landingslope::getFlareCurveRelativeAltitudeSave(float wp_landing_distance,
 		return 0.0f;
 	}
 }
-
-float Landingslope::getFlareCurveAbsoluteAltitudeSave(float wp_landing_distance, float bearing_lastwp_currwp,
-		float bearing_airplane_currwp, float wp_landing_altitude)
-{
-
-	return wp_landing_altitude + getFlareCurveRelativeAltitudeSave(wp_landing_distance, bearing_lastwp_currwp,
-			bearing_airplane_currwp);
-}
-

src/modules/fw_pos_control_l1/landingslope.h

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012-2016 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2017 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
@@ -41,28 +41,26 @@
 #define LANDINGSLOPE_H_
 
 #include <math.h>
-#include <systemlib/err.h>
 
 class Landingslope
 {
 private:
 	/* see Documentation/fw_landing.png for a plot of the landing slope */
-	float _landing_slope_angle_rad;			/**< phi in the plot */
-	float _flare_relative_alt;				/**< h_flare,rel in the plot */
-	float _motor_lim_relative_alt;
-	float _H1_virt;							/**< H1 in the plot */
-	float _H0;								/**< h_flare,rel + H1 in the plot */
-	float _d1;								/**< d1 in the plot */
-	float _flare_constant;
-	float _flare_length;					/**< d1 + delta d in the plot */
-	float _horizontal_slope_displacement;  /**< delta d in the plot */
+	float _landing_slope_angle_rad{0.0f};			/**< phi in the plot */
+	float _flare_relative_alt{0.0f};				/**< h_flare,rel in the plot */
+	float _motor_lim_relative_alt{0.0f};
+	float _H1_virt{0.0f};							/**< H1 in the plot */
+	float _H0{0.0f};								/**< h_flare,rel + H1 in the plot */
+	float _d1{0.0f};								/**< d1 in the plot */
+	float _flare_constant{0.0f};
+	float _flare_length{0.0f};					/**< d1 + delta d in the plot */
+	float _horizontal_slope_displacement{0.0f};  /**< delta d in the plot */
 
 	void calculateSlopeValues();
 
 public:
-	Landingslope();
-	~Landingslope() {}
-
+	Landingslope() = default;
+	~Landingslope() = default;
 
 	/**
 	 *
@@ -78,21 +76,6 @@ public:
 	float getLandingSlopeRelativeAltitudeSave(float wp_landing_distance, float bearing_lastwp_currwp,
 			float bearing_airplane_currwp);
 
-
-	/**
-	 *
-	 * @return Absolute altitude of point on landing slope at distance to landing waypoint=wp_landing_distance
-	 */
-	float getLandingSlopeAbsoluteAltitude(float wp_landing_distance, float wp_altitude);
-
-	/**
-	 *
-	 * @return Absolute altitude of point on landing slope at distance to landing waypoint=wp_landing_distance
-	 * Performs check if aircraft is in front of waypoint to avoid climbout
-	 */
-	float getLandingSlopeAbsoluteAltitudeSave(float wp_landing_distance, float bearing_lastwp_currwp,
-			float bearing_airplane_currwp, float wp_landing_altitude);
-
 	/**
 	 *
 	 * @return Relative altitude of point on landing slope at distance to landing waypoint=wp_landing_distance
@@ -100,8 +83,8 @@ public:
 	__EXPORT static float getLandingSlopeRelativeAltitude(float wp_landing_distance, float horizontal_slope_displacement,
 			float landing_slope_angle_rad)
 	{
-		return (wp_landing_distance - horizontal_slope_displacement) * tanf(
-			       landing_slope_angle_rad); //flare_relative_alt is negative
+		// flare_relative_alt is negative
+		return (wp_landing_distance - horizontal_slope_displacement) * tanf(landing_slope_angle_rad);
 	}
 
 	/**
@@ -128,24 +111,17 @@ public:
 
 	float getFlareCurveRelativeAltitudeSave(float wp_distance, float bearing_lastwp_currwp, float bearing_airplane_currwp);
 
-	float getFlareCurveAbsoluteAltitudeSave(float wp_distance, float bearing_lastwp_currwp, float bearing_airplane_currwp,
-						float wp_altitude);
-
 	void update(float landing_slope_angle_rad_new,
 		    float flare_relative_alt_new,
 		    float motor_lim_relative_alt_new,
 		    float H1_virt_new);
 
 
-	inline float landing_slope_angle_rad() {return _landing_slope_angle_rad;}
-	inline float flare_relative_alt() {return _flare_relative_alt;}
-	inline float motor_lim_relative_alt() {return _motor_lim_relative_alt;}
-	inline float H1_virt() {return _H1_virt;}
-	inline float H0() {return _H0;}
-	inline float d1() {return _d1;}
-	inline float flare_constant() {return _flare_constant;}
-	inline float flare_length() {return _flare_length;}
-	inline float horizontal_slope_displacement() {return _horizontal_slope_displacement;}
+	float landing_slope_angle_rad() { return _landing_slope_angle_rad; }
+	float flare_relative_alt() { return _flare_relative_alt; }
+	float motor_lim_relative_alt() { return _motor_lim_relative_alt; }
+	float flare_length() { return _flare_length; }
+	float horizontal_slope_displacement() { return _horizontal_slope_displacement; }
 
 };