mc_pos_control: delete leftover from transitional changes for vel_max_z

PX4 · Mar 15, 2017 · 6e1cf7f · 6e1cf7f
1 parent 948635c
commit 6e1cf7f
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Showing 2 changed files with 1 addition and 19 deletions.
diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -500,15 +500,7 @@ MulticopterPositionControl::MulticopterPositionControl() :
 	_params_handles.z_vel_i		= param_find("MPC_Z_VEL_I");
 	_params_handles.z_vel_d		= param_find("MPC_Z_VEL_D");
 	_params_handles.z_vel_max_up	= param_find("MPC_Z_VEL_MAX_UP");
-	_params_handles.z_vel_max_down	= param_find("MPC_Z_VEL_MAX");
-
-	// transitional support: Copy param values from max to down
-	// param so that max param can be renamed in 1-2 releases
-	// (currently at 1.3.0)
-	float p;
-	param_get(param_find("MPC_Z_VEL_MAX"), &p);
-	param_set(param_find("MPC_Z_VEL_MAX_DN"), &p);
-
+	_params_handles.z_vel_max_down	= param_find("MPC_Z_VEL_MAX_DN");
 	_params_handles.z_ff		= param_find("MPC_Z_FF");
 	_params_handles.xy_p		= param_find("MPC_XY_P");
 	_params_handles.xy_vel_p	= param_find("MPC_XY_VEL_P");

diff --git a/src/modules/mc_pos_control/mc_pos_control_params.c b/src/modules/mc_pos_control/mc_pos_control_params.c
@@ -214,16 +214,6 @@ PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX_UP, 3.0f);
  * @max 4.0
  * @group Multicopter Position Control
  */
-PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX, 1.0f);
-
-/**
- * Transitional support, do not change / use
- *
- * @unit m/s
- * @min 0.5
- * @max 4.0
- * @group Multicopter Position Control
- */
 PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX_DN, 1.0f);
 
 /**