Revert "Testing"

This reverts commit 568df98.
lthall · Oct 5, 2024 · 33e0044 · 33e0044
1 parent 568df98
commit 33e0044
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diff --git a/ArduCopter/mode_althold.cpp b/ArduCopter/mode_althold.cpp
@@ -98,7 +98,6 @@ void ModeAltHold::run()
     }
 
     // call attitude controller
-    attitude_control->limit_target_thrust_angle(copter.aparm.angle_max);
     attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
 
     // run the vertical position controller and set output throttle

diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
@@ -2,7 +2,6 @@
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Vehicle/AP_Vehicle_Type.h>
 #include <AP_Scheduler/AP_Scheduler.h>
-#include <AP_Logger/AP_Logger.h>
 
 extern const AP_HAL::HAL& hal;
 
@@ -339,30 +338,6 @@ void AC_AttitudeControl::limit_target_thrust_angle(float thrust_angle_max_cd)
     float ang_vel_scalar = MAX( 0.0, 1.0f - (abs(thrust_correction_angle) / (0.25 * thrust_angle_max_cd)));
     _ang_vel_target *= ang_vel_scalar;
     ang_vel_to_euler_rate(_attitude_target, _ang_vel_target, _euler_rate_target);
-
-    // Rotating [0,0,-1] by attitude_target expresses (gets a view of) the target thrust vector in the inertial frame
-    Vector3f att_target_thrust_vec = _attitude_target * thrust_vector_up; // target thrust vector
-
-    // the dot product is used to calculate the current lean angle for use of external functions
-    float target_thrust_angle = acosf(constrain_float(att_target_thrust_vec * thrust_vector_up, -1.0f, 1.0f));
-
-    AP::logger().Write("ALIM",
-        "TimeUS,r,p,y,tr,tp,ty,er,ep,ey,ca,ta",
-        "sddddddkkkdd",
-        "F00000000000",
-        "Qfffffffffff",
-        AP_HAL::micros64(),
-        (double)degrees(attitude_body.get_euler_roll()),
-        (double)degrees(attitude_body.get_euler_pitch()),
-        (double)wrap_360(degrees(attitude_body.get_euler_yaw())),
-        (double)degrees(_attitude_target.get_euler_roll()),
-        (double)degrees(_attitude_target.get_euler_pitch()),
-        (double)wrap_360(degrees(_attitude_target.get_euler_yaw())),
-        (double)degrees(gyro.x),
-        (double)degrees(gyro.y),
-        (double)degrees(gyro.z),
-        (double)degrees(thrust_correction_angle),
-        (double)degrees(target_thrust_angle));
 }
 
 // The attitude controller works around the concept of the desired attitude, target attitude