APM_Control: remove public AP_PitchController::get_coordination_rate_…

…of|cat()
hopewhd · Oct 4, 2013 · d27f5e8 · d27f5e8
1 parent 44eedd4
commit d27f5e8
Show file tree

Hide file tree

Showing 2 changed files with 6 additions and 13 deletions.
diff --git a/libraries/APM_Control/AP_PitchController.cpp b/libraries/APM_Control/AP_PitchController.cpp
@@ -176,7 +176,12 @@ int32_t AP_PitchController::_get_rate_out(float desired_rate, float scaler, bool
 */
 int32_t AP_PitchController::get_rate_out(float desired_rate, float scaler)
 {
-    return _get_rate_out(desired_rate, scaler, false, 0);
+    float aspeed;
+	if (!_ahrs.airspeed_estimate(&aspeed)) {
+	    // If no airspeed available use average of min and max
+        aspeed = 0.5f*(float(aparm.airspeed_min) + float(aparm.airspeed_max));
+	}
+    return _get_rate_out(desired_rate, scaler, false, aspeed);
 }
 
 /*
@@ -219,17 +224,6 @@ float AP_PitchController::_get_coordination_rate_offset(float &aspeed, bool &inv
     return rate_offset;
 }
 
-/*
-  get the rate offset in degrees/second needed for pitch in body frame
-  to maintain height in a coordinated turn.
- */
-float AP_PitchController::get_coordination_rate_offset(void) const
-{
-    float aspeed;
-    bool inverted;
-    return _get_coordination_rate_offset(aspeed, inverted);
-}
-
 // Function returns an equivalent elevator deflection in centi-degrees in the range from -4500 to 4500
 // A positive demand is up
 // Inputs are: 

diff --git a/libraries/APM_Control/AP_PitchController.h b/libraries/APM_Control/AP_PitchController.h
@@ -19,7 +19,6 @@ class AP_PitchController {
 
 	int32_t get_rate_out(float desired_rate, float scaler);
 	int32_t get_servo_out(int32_t angle_err, float scaler, bool disable_integrator);
-    float   get_coordination_rate_offset(void) const;
 
 	void reset_I();