AP_MotorsHeli_Single: remove unused delta_phase_angle

libraries/AP_Motors/AP_MotorsHeli_Single.cpp

@@ -270,14 +270,14 @@ void AP_MotorsHeli_Single::calculate_roll_pitch_collective_factors()
     if (_swash_type == AP_MOTORS_HELI_SINGLE_SWASH_CCPM) {                     //CCPM Swashplate, perform control mixing
 
         // roll factors
-        _rollFactor[CH_1] = cosf(radians(_servo1_pos + 90 - (_phase_angle + _delta_phase_angle)));
-        _rollFactor[CH_2] = cosf(radians(_servo2_pos + 90 - (_phase_angle + _delta_phase_angle)));
-        _rollFactor[CH_3] = cosf(radians(_servo3_pos + 90 - (_phase_angle + _delta_phase_angle)));
+        _rollFactor[CH_1] = cosf(radians(_servo1_pos + 90 - _phase_angle));
+        _rollFactor[CH_2] = cosf(radians(_servo2_pos + 90 - _phase_angle));
+        _rollFactor[CH_3] = cosf(radians(_servo3_pos + 90 - _phase_angle));
 
         // pitch factors
-        _pitchFactor[CH_1] = cosf(radians(_servo1_pos - (_phase_angle + _delta_phase_angle)));
-        _pitchFactor[CH_2] = cosf(radians(_servo2_pos - (_phase_angle + _delta_phase_angle)));
-        _pitchFactor[CH_3] = cosf(radians(_servo3_pos - (_phase_angle + _delta_phase_angle)));
+        _pitchFactor[CH_1] = cosf(radians(_servo1_pos - _phase_angle));
+        _pitchFactor[CH_2] = cosf(radians(_servo2_pos - _phase_angle));
+        _pitchFactor[CH_3] = cosf(radians(_servo3_pos - _phase_angle));
 
         // collective factors
         _collectiveFactor[CH_1] = 1;
@@ -330,15 +330,6 @@ void AP_MotorsHeli_Single::update_motor_control(RotorControlState state)
     _heliflags.rotor_runup_complete = ( _main_rotor.is_runup_complete() && _tail_rotor.is_runup_complete() );
 }
 
-// set_delta_phase_angle for setting variable phase angle compensation and force
-// recalculation of collective factors
-void AP_MotorsHeli_Single::set_delta_phase_angle(int16_t angle)
-{
-    angle = constrain_int16(angle, -90, 90);
-    _delta_phase_angle = angle;
-    calculate_roll_pitch_collective_factors();
-}
-
 //
 // move_actuators - moves swash plate and tail rotor
 //                 - expected ranges:

libraries/AP_Motors/AP_MotorsHeli_Single.h

@@ -114,10 +114,6 @@ public:
     // supports_yaw_passthrought - returns true if we support yaw passthrough
     bool supports_yaw_passthrough() const { return _tail_type == AP_MOTORS_HELI_SINGLE_TAILTYPE_SERVO_EXTGYRO; }
 
-    // set_delta_phase_angle for setting variable phase angle compensation and force
-    // recalculation of collective factors
-    void set_delta_phase_angle(int16_t angle);
-
     void set_acro_tail(bool set) { _acro_tail = set; }
 
     // servo_test - move servos through full range of movement