ArduCopter: remove last remanants of rate_d to resolve compiler warning of unused variables

ArduCopter/ArduCopter.pde

@@ -611,9 +611,6 @@ int32_t pitch_axis;
 AP_LeadFilter xLeadFilter;      // Long GPS lag filter
 AP_LeadFilter yLeadFilter;      // Lat  GPS lag filter
 
-//AverageFilterInt32_Size3 roll_rate_d_filter;    // filtered acceleration
-//AverageFilterInt32_Size3 pitch_rate_d_filter;   // filtered pitch acceleration
-
 // Barometer filter
 AverageFilterInt32_Size5 baro_filter;
 

ArduCopter/Attitude.pde

@@ -301,23 +301,14 @@ run_rate_controllers()
 static int16_t
 get_rate_roll(int32_t target_rate)
 {
-    static int32_t last_rate = 0;   // previous iterations rate
     int32_t p,i,d;                  // used to capture pid values for logging
     int32_t current_rate;           // this iteration's rate
     int32_t rate_error;             // simply target_rate - current_rate
-    //int32_t rate_d;                 // roll's acceleration
     int32_t output;                 // output from pid controller
-    //int32_t rate_d_dampener;        // value to dampen output based on acceleration
 
     // get current rate
     current_rate    = (omega.x * DEGX100);
 
-    // calculate and filter the acceleration
-    //rate_d      = roll_rate_d_filter.apply(current_rate - last_rate);
-
-    // store rate for next iteration
-    last_rate   = current_rate;
-
     // call pid controller
     rate_error  = target_rate - current_rate;
     p           = g.pid_rate_roll.get_p(rate_error);
@@ -332,11 +323,6 @@ get_rate_roll(int32_t target_rate)
     d = g.pid_rate_roll.get_d(rate_error, G_Dt);
     output = p + i + d;
 
-    // Dampening output with D term
-    //rate_d_dampener = rate_d * roll_scale_d;
-    //rate_d_dampener = constrain(rate_d_dampener, -400, 400);
-    //output -= rate_d_dampener;
-
     // constrain output
     output = constrain(output, -5000, 5000);
 
@@ -360,23 +346,14 @@ get_rate_roll(int32_t target_rate)
 static int16_t
 get_rate_pitch(int32_t target_rate)
 {
-    static int32_t last_rate = 0;                                       // previous iterations rate
     int32_t p,i,d;                                                                      // used to capture pid values for logging
     int32_t current_rate;                                                       // this iteration's rate
     int32_t rate_error;                                                                 // simply target_rate - current_rate
-    //int32_t rate_d;                                                                     // roll's acceleration
     int32_t output;                                                                     // output from pid controller
-    //int32_t rate_d_dampener;                                                    // value to dampen output based on acceleration
 
     // get current rate
     current_rate    = (omega.y * DEGX100);
 
-    // calculate and filter the acceleration
-    //rate_d          = pitch_rate_d_filter.apply(current_rate - last_rate);
-
-    // store rate for next iteration
-    last_rate       = current_rate;
-
     // call pid controller
     rate_error      = target_rate - current_rate;
     p               = g.pid_rate_pitch.get_p(rate_error);
@@ -389,11 +366,6 @@ get_rate_pitch(int32_t target_rate)
     d = g.pid_rate_pitch.get_d(rate_error, G_Dt);
     output = p + i + d;
 
-    // Dampening output with D term
-    //rate_d_dampener = rate_d * pitch_scale_d;
-    //rate_d_dampener = constrain(rate_d_dampener, -400, 400);
-    //output -= rate_d_dampener;
-
     // constrain output
     output = constrain(output, -5000, 5000);