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navigation feature / reference removal

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This commit is contained in:
s0up 2018-05-09 10:28:36 -07:00
parent 3af1610d0b
commit de5fa47c4c
19 changed files with 1 additions and 724 deletions
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3
src/main/flight/pid.c
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@ -422,9 +422,6 @@ static float pidLevel(int axis, const pidProfile_t *pidProfile, const rollAndPit
// calculate error angle and limit the angle to the max inclination
// rcDeflection is in range [-1.0, 1.0]
float angle = pidProfile->levelAngleLimit * getRcDeflection(axis);
#ifdef USE_GPS
angle += GPS_angle[axis];
#endif
angle = constrainf(angle, -pidProfile->levelAngleLimit, pidProfile->levelAngleLimit);
const float errorAngle = angle - ((attitude.raw[axis] - angleTrim->raw[axis]) / 10.0f);
if (FLIGHT_MODE(ANGLE_MODE)) {