From 51bf638ad3549e1e8b3b23abea17ba8ab2bc949a Mon Sep 17 00:00:00 2001
From: "Fernandes Pinheiro, Daker" <daker.fernandes.pinheiro@intel.com>
Date: Tue, 5 Jul 2016 17:04:57 -0300
Subject: [PATCH] PID: Remove unused method get_pid_4500

---
 libraries/PID/PID.cpp | 6 ------
 libraries/PID/PID.h   | 3 ---
 2 files changed, 9 deletions(-)

diff --git a/libraries/PID/PID.cpp b/libraries/PID/PID.cpp
index 5e374dcde3..9a98dd0ca6 100644
--- a/libraries/PID/PID.cpp
+++ b/libraries/PID/PID.cpp
@@ -111,12 +111,6 @@ float PID::get_pid(float error, float scaler)
     return output;
 }
 
-int16_t PID::get_pid_4500(float error, float scaler)
-{
-	float v = get_pid(error, scaler);
-	return constrain_float(v, -4500, 4500);
-}
-
 void
 PID::reset_I()
 {
diff --git a/libraries/PID/PID.h b/libraries/PID/PID.h
index 8c398e411b..b27def4b9d 100644
--- a/libraries/PID/PID.h
+++ b/libraries/PID/PID.h
@@ -41,9 +41,6 @@ public:
     ///
     float        get_pid(float error, float scaler = 1.0);
 
-	// get_pid() constrained to +/- 4500
-    int16_t     get_pid_4500(float error, float scaler = 1.0);
-
     /// Reset the PID integrator
     ///
     void        reset_I();