Plane: removed some old defines

ArduPlane/config.h

@@ -79,12 +79,6 @@
  #endif
 #endif
 
-// use this to enable telemetry on UART2. This is used
-// when you have setup the solder bridge on an APM2 to enable UART2
-#ifndef TELEMETRY_UART2
- # define TELEMETRY_UART2 DISABLED
-#endif
-
 //////////////////////////////////////////////////////////////////////////////
 // main board differences
 //
@@ -359,9 +353,6 @@
 //////////////////////////////////////////////////////////////////////////////
 // Altitude measurement and control.
 //
-#ifndef ALT_EST_GAIN
- # define ALT_EST_GAIN                   0.01
-#endif
 #ifndef ALTITUDE_MIX
  # define ALTITUDE_MIX                   1
 #endif
@@ -401,24 +392,6 @@
 #define ALT_HOLD_FBW_CM ALT_HOLD_FBW*100
 
 
-
-/*  The following parameters have no corresponding control implementation
- * #ifndef THROTTLE_ALT_P
- # define THROTTLE_ALT_P         0.32
- ##endif
- ##ifndef THROTTLE_ALT_I
- # define THROTTLE_ALT_I         0.0
- ##endif
- ##ifndef THROTTLE_ALT_D
- # define THROTTLE_ALT_D         0.0
- ##endif
- ##ifndef THROTTLE_ALT_INT_MAX
- # define THROTTLE_ALT_INT_MAX   20
- ##endif
- ##define THROTTLE_ALT_INT_MAX_CM THROTTLE_ALT_INT_MAX*100
- */
-
-
 //////////////////////////////////////////////////////////////////////////////
 // Servo Mapping
 //
@@ -448,130 +421,11 @@
 #define PITCH_MAX_CENTIDEGREE PITCH_MAX * 100
 #define PITCH_MIN_CENTIDEGREE PITCH_MIN * 100
 
-//////////////////////////////////////////////////////////////////////////////
-// Attitude control gains
-//
-#ifndef SERVO_ROLL_P
- # define SERVO_ROLL_P         0.4
-#endif
-#ifndef SERVO_ROLL_I
- # define SERVO_ROLL_I         0.0
-#endif
-#ifndef SERVO_ROLL_D
- # define SERVO_ROLL_D         0.0
-#endif
-#ifndef SERVO_ROLL_INT_MAX
- # define SERVO_ROLL_INT_MAX   5
-#endif
-#define SERVO_ROLL_INT_MAX_CENTIDEGREE SERVO_ROLL_INT_MAX*100
-#ifndef SERVO_PITCH_P
- # define SERVO_PITCH_P        0.6
-#endif
-#ifndef SERVO_PITCH_I
- # define SERVO_PITCH_I        0.0
-#endif
-#ifndef SERVO_PITCH_D
- # define SERVO_PITCH_D        0.0
-#endif
-#ifndef SERVO_PITCH_INT_MAX
- # define SERVO_PITCH_INT_MAX  5
-#endif
-#define SERVO_PITCH_INT_MAX_CENTIDEGREE SERVO_PITCH_INT_MAX*100
-#ifndef PITCH_COMP
- # define PITCH_COMP           0.2
-#endif
-#ifndef SERVO_YAW_P
- # define SERVO_YAW_P          0.0
-#endif
-#ifndef SERVO_YAW_I
- # define SERVO_YAW_I          0.0
-#endif
-#ifndef SERVO_YAW_D
- # define SERVO_YAW_D          0.0
-#endif
-#ifndef SERVO_YAW_INT_MAX
- # define SERVO_YAW_INT_MAX    0
-#endif
 #ifndef RUDDER_MIX
  # define RUDDER_MIX           0.5
 #endif
 
 
-//////////////////////////////////////////////////////////////////////////////
-// Navigation control gains
-//
-#ifndef NAV_ROLL_P
- # define NAV_ROLL_P           0.7
-#endif
-#ifndef NAV_ROLL_I
- # define NAV_ROLL_I           0.02
-#endif
-#ifndef NAV_ROLL_D
- # define NAV_ROLL_D           0.1
-#endif
-#ifndef NAV_ROLL_INT_MAX
- # define NAV_ROLL_INT_MAX     5
-#endif
-#define NAV_ROLL_INT_MAX_CENTIDEGREE NAV_ROLL_INT_MAX*100
-#ifndef NAV_PITCH_ASP_P
- # define NAV_PITCH_ASP_P      0.65
-#endif
-#ifndef NAV_PITCH_ASP_I
- # define NAV_PITCH_ASP_I      0.1
-#endif
-#ifndef NAV_PITCH_ASP_D
- # define NAV_PITCH_ASP_D      0.0
-#endif
-#ifndef NAV_PITCH_ASP_INT_MAX
- # define NAV_PITCH_ASP_INT_MAX 5
-#endif
-#define NAV_PITCH_ASP_INT_MAX_CMSEC NAV_PITCH_ASP_INT_MAX*100
-#ifndef NAV_PITCH_ALT_P
- # define NAV_PITCH_ALT_P      0.65
-#endif
-#ifndef NAV_PITCH_ALT_I
- # define NAV_PITCH_ALT_I      0.1
-#endif
-#ifndef NAV_PITCH_ALT_D
- # define NAV_PITCH_ALT_D      0.0
-#endif
-#ifndef NAV_PITCH_ALT_INT_MAX
- # define NAV_PITCH_ALT_INT_MAX 5
-#endif
-#define NAV_PITCH_ALT_INT_MAX_CM NAV_PITCH_ALT_INT_MAX*100
-
-
-//////////////////////////////////////////////////////////////////////////////
-// Energy/Altitude control gains
-//
-#ifndef THROTTLE_TE_P
- # define THROTTLE_TE_P        0.50
-#endif
-#ifndef THROTTLE_TE_I
- # define THROTTLE_TE_I        0.0
-#endif
-#ifndef THROTTLE_TE_D
- # define THROTTLE_TE_D        0.0
-#endif
-#ifndef THROTTLE_TE_INT_MAX
- # define THROTTLE_TE_INT_MAX  20
-#endif
-#ifndef PITCH_TARGET
- # define PITCH_TARGET         0
-#endif
-
-//////////////////////////////////////////////////////////////////////////////
-// Crosstrack compensation
-//
-#ifndef XTRACK_GAIN
- # define XTRACK_GAIN          1 // deg/m
-#endif
-#ifndef XTRACK_ENTRY_ANGLE
- # define XTRACK_ENTRY_ANGLE   30 // deg
-#endif
-# define XTRACK_GAIN_SCALED XTRACK_GAIN*100
-# define XTRACK_ENTRY_ANGLE_CENTIDEGREE XTRACK_ENTRY_ANGLE*100
-
 //////////////////////////////////////////////////////////////////////////////
 //////////////////////////////////////////////////////////////////////////////
 // DEBUGGING