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Excised some more unused code after review.

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This commit is contained in:
mikeller 2019-02-07 20:30:18 +13:00
parent 794ab1c65b
commit 35bc646692
1 changed files with 6 additions and 0 deletions
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6
src/main/flight/pid.c
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@ -1163,8 +1163,11 @@ static float applyLaunchControl(int axis, const rollAndPitchTrims_t *angleTrim)
void FAST_CODE pidController(const pidProfile_t *pidProfile, timeUs_t currentTimeUs) void FAST_CODE pidController(const pidProfile_t *pidProfile, timeUs_t currentTimeUs)
{ {
static float previousGyroRateDterm[XYZ_AXIS_COUNT]; static float previousGyroRateDterm[XYZ_AXIS_COUNT];
#if defined(USE_ACC)
static timeUs_t levelModeStartTimeUs = 0; static timeUs_t levelModeStartTimeUs = 0;
static bool gpsRescuePreviousState = false; static bool gpsRescuePreviousState = false;
#endif
const float tpaFactor = getThrottlePIDAttenuation(); const float tpaFactor = getThrottlePIDAttenuation();
@ -1172,6 +1175,7 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, timeUs_t currentTim
const rollAndPitchTrims_t *angleTrim = &accelerometerConfig()->accelerometerTrims; const rollAndPitchTrims_t *angleTrim = &accelerometerConfig()->accelerometerTrims;
#else #else
UNUSED(pidProfile); UNUSED(pidProfile);
UNUSED(currentTimeUs);
#endif #endif
#ifdef USE_TPA_MODE #ifdef USE_TPA_MODE
@ -1186,6 +1190,7 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, timeUs_t currentTim
const bool launchControlActive = isLaunchControlActive(); const bool launchControlActive = isLaunchControlActive();
#if defined(USE_ACC)
const bool gpsRescueIsActive = FLIGHT_MODE(GPS_RESCUE_MODE); const bool gpsRescueIsActive = FLIGHT_MODE(GPS_RESCUE_MODE);
const bool levelModeActive = FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE) || gpsRescueIsActive; const bool levelModeActive = FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE) || gpsRescueIsActive;
@ -1200,6 +1205,7 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, timeUs_t currentTim
levelModeStartTimeUs = 0; levelModeStartTimeUs = 0;
} }
gpsRescuePreviousState = gpsRescueIsActive; gpsRescuePreviousState = gpsRescueIsActive;
#endif
// Dynamic i component, // Dynamic i component,
if ((antiGravityMode == ANTI_GRAVITY_SMOOTH) && antiGravityEnabled) { if ((antiGravityMode == ANTI_GRAVITY_SMOOTH) && antiGravityEnabled) {