AC_PosControl: const local vars and remove todo

libraries/AC_AttitudeControl/AC_PosControl.cpp

@@ -1115,12 +1115,9 @@ void AC_PosControl::run_xy_controller(float dt)
 // get_lean_angles_to_accel - convert roll, pitch lean angles to lat/lon frame accelerations in cm/s/s
 void AC_PosControl::accel_to_lean_angles(float accel_x_cmss, float accel_y_cmss, float& roll_target, float& pitch_target) const
 {
-    float accel_right, accel_forward;
-
     // rotate accelerations into body forward-right frame
-    // todo: this should probably be based on the desired heading not the current heading
-    accel_forward = accel_x_cmss * _ahrs.cos_yaw() + accel_y_cmss * _ahrs.sin_yaw();
-    accel_right = -accel_x_cmss * _ahrs.sin_yaw() + accel_y_cmss * _ahrs.cos_yaw();
+    const float accel_forward = accel_x_cmss * _ahrs.cos_yaw() + accel_y_cmss * _ahrs.sin_yaw();
+    const float accel_right = -accel_x_cmss * _ahrs.sin_yaw() + accel_y_cmss * _ahrs.cos_yaw();
 
     // update angle targets that will be passed to stabilize controller
     pitch_target = atanf(-accel_forward / (GRAVITY_MSS * 100.0f)) * (18000.0f / M_PI);