AP_TECS: Reverted TECS reset when pitch and throttle are forced

Georacer · Sep 20, 2024 · 46c5013 · 46c5013
1 parent 40a6af8
commit 46c5013
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Showing 2 changed files with 0 additions and 12 deletions.
diff --git a/libraries/AP_TECS/AP_TECS.cpp b/libraries/AP_TECS/AP_TECS.cpp
@@ -1114,8 +1114,6 @@ void AP_TECS::_initialise_states(float hgt_afe)
     // Initialise states and variables if DT > 0.2 second or TECS is getting overriden or in climbout.
     _flags.reset = false;
 
-    _need_reset = _need_reset || (_flag_pitch_forced && _flag_throttle_forced);
-
     if (_DT > 0.2f || _need_reset) {
         _SKE_weighting        = 1.0f;
         _integTHR_state       = 0.0f;
@@ -1500,12 +1498,4 @@ void AP_TECS::_update_pitch_limits(const int32_t ptchMinCO_cd) {
 
     // don't allow max pitch to go below min pitch
     _PITCHmaxf = MAX(_PITCHmaxf, _PITCHminf);
-
-    // Test if someone is forcing pitch to a specific value.
-    const float pitch_eps = DEG_TO_RAD*1;
-    if (fabsf(_PITCHmaxf-_PITCHminf)<pitch_eps) {
-        _flag_pitch_forced = true;
-    } else {
-        _flag_pitch_forced = false;
-    }
 }
diff --git a/libraries/AP_TECS/AP_TECS.h b/libraries/AP_TECS/AP_TECS.h
@@ -431,8 +431,6 @@ class AP_TECS {
 
     // need to reset on next loop
     bool _need_reset;
-    // Flag if someone else drives pitch externally.
-    bool _flag_pitch_forced;
     // Flag if someone else drives throttle externally.
     bool _flag_throttle_forced;