Clean up

PX4 · Jan 6, 2025 · 94dd880 · 94dd880
1 parent 6a1d2e9
commit 94dd880
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Showing 2 changed files with 0 additions and 6 deletions.
diff --git a/src/modules/mc_att_control/mc_att_control.hpp b/src/modules/mc_att_control/mc_att_control.hpp
@@ -132,9 +132,6 @@ class MulticopterAttitudeControl : public ModuleBase<MulticopterAttitudeControl>
 	AlphaFilter<float> _man_roll_input_filter;
 	AlphaFilter<float> _man_pitch_input_filter;
 
-	AlphaFilter<float> _man_x_input_filter;
-	AlphaFilter<float> _man_y_input_filter;
-
 	hrt_abstime _last_run{0};
 	hrt_abstime _last_attitude_setpoint{0};
 

diff --git a/src/modules/mc_hover_thrust_estimator/MulticopterHoverThrustEstimator.cpp b/src/modules/mc_hover_thrust_estimator/MulticopterHoverThrustEstimator.cpp
@@ -176,9 +176,6 @@ void MulticopterHoverThrustEstimator::Run()
 			matrix::Vector3f thrust_body_unallocated(control_allocator_status.unallocated_thrust);
 			matrix::Vector3f thrust_body_allocated = thrust_body_sp - thrust_body_unallocated;
 
-			thrust_body_allocated(0) = 0.f; // ignore for now
-			thrust_body_allocated(1) = 0.f; // ignore for now
-
 			const matrix::Quatf q_att{vehicle_attitude.q};
 			matrix::Vector3f thrust_allocated = q_att.rotateVector(thrust_body_allocated);