AC_AttitudeControl: remove inverted flight state

ArduPilot · Feb 28, 2024 · d4138d6 · d4138d6
1 parent 4a8a541
commit d4138d6
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Showing 2 changed files with 0 additions and 11 deletions.
diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl.h b/libraries/AC_AttitudeControl/AC_AttitudeControl.h
@@ -376,9 +376,6 @@ class AC_AttitudeControl {
                         char *failure_msg,
                         const uint8_t failure_msg_len);
 
-    // enable inverted flight on backends that support it
-    virtual void set_inverted_flight(bool inverted) {}
-
     // get the slew rate value for roll, pitch and yaw, for oscillation detection in lua scripts
     void get_rpy_srate(float &roll_srate, float &pitch_srate, float &yaw_srate);
 
@@ -566,9 +563,6 @@ class AC_AttitudeControl {
     void control_monitor_filter_pid(float value, float &rms_P);
     void control_monitor_update(void);
 
-    // true in inverted flight mode
-    bool _inverted_flight;
-
 public:
     // log a CTRL message
     void control_monitor_log(void) const;

diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h b/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h
@@ -80,11 +80,6 @@ class AC_AttitudeControl_Heli : public AC_AttitudeControl {
 
     // Command an euler roll, pitch and yaw angle with angular velocity feedforward and smoothing
     void input_euler_angle_roll_pitch_yaw(float euler_roll_angle_cd, float euler_pitch_angle_cd, float euler_yaw_angle_cd, bool slew_yaw) override;
-
-    // enable/disable inverted flight
-    void set_inverted_flight(bool inverted) override {
-        _inverted_flight = inverted;
-    }
 
     // set the PID notch sample rates
     void set_notch_sample_rate(float sample_rate) override;