From 7a9e31f440538b07f6339aaababe7d5cf0a2bdaa Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Sat, 8 Jul 2017 20:57:10 -0400
Subject: [PATCH] delete unused MPC_XY_FF and MPC_Z_FF (#7563)

---
 ROMFS/px4fmu_common/init.d/10018_tbs_endurance   | 1 -
 ROMFS/px4fmu_common/init.d/13009_vtol_spt_ranger | 2 --
 posix-configs/SITL/init/ekf2/standard_vtol       | 1 -
 posix-configs/SITL/init/ekf2/tailsitter          | 1 -
 posix-configs/SITL/init/lpe/standard_vtol        | 1 -
 5 files changed, 6 deletions(-)

diff --git a/ROMFS/px4fmu_common/init.d/10018_tbs_endurance b/ROMFS/px4fmu_common/init.d/10018_tbs_endurance
index 40ff3a43c0..5447911dd1 100644
--- a/ROMFS/px4fmu_common/init.d/10018_tbs_endurance
+++ b/ROMFS/px4fmu_common/init.d/10018_tbs_endurance
@@ -40,7 +40,6 @@ then
 	param set MC_YAWRATE_I 0.1
 	param set MC_YAWRATE_D 0.0
 
-	param set MPC_XY_FF 0.2
 	param set MPC_XY_VEL_MAX 2
 	param set PWM_MIN 1080
 fi
diff --git a/ROMFS/px4fmu_common/init.d/13009_vtol_spt_ranger b/ROMFS/px4fmu_common/init.d/13009_vtol_spt_ranger
index 8fab23493a..f99a30b608 100644
--- a/ROMFS/px4fmu_common/init.d/13009_vtol_spt_ranger
+++ b/ROMFS/px4fmu_common/init.d/13009_vtol_spt_ranger
@@ -62,11 +62,9 @@ then
     param set MPC_TILTMAX_AIR 35.0
     param set MPC_TILTMAX_LND 20.0
     param set MPC_TKO_SPEED   1.0
-    param set MPC_XY_FF   0.1
     param set MPC_XY_P    0.3
     param set MPC_XY_VEL_MAX  3.0
     param set MPC_XY_VEL_P    0.05
-    param set MPC_Z_FF    0.3
     param set MPC_Z_P 0.5
     param set MPC_Z_VEL_P 0.1
 
diff --git a/posix-configs/SITL/init/ekf2/standard_vtol b/posix-configs/SITL/init/ekf2/standard_vtol
index 3ef67b6471..95c9ce261e 100644
--- a/posix-configs/SITL/init/ekf2/standard_vtol
+++ b/posix-configs/SITL/init/ekf2/standard_vtol
@@ -36,7 +36,6 @@ param set MIS_YAW_TMT 10
 param set MPC_ACC_HOR_MAX 2
 param set MPC_ACC_HOR_MAX 2.0
 param set MPC_TKO_SPEED 1.0
-param set MPC_XY_FF 0.1
 param set MPC_XY_P 0.8
 param set MPC_XY_VEL_D 0.005
 param set MPC_XY_VEL_I 0.2
diff --git a/posix-configs/SITL/init/ekf2/tailsitter b/posix-configs/SITL/init/ekf2/tailsitter
index ae97ff4bdc..ba01a8f0cd 100644
--- a/posix-configs/SITL/init/ekf2/tailsitter
+++ b/posix-configs/SITL/init/ekf2/tailsitter
@@ -26,7 +26,6 @@ param set MC_PITCH_P 6
 param set MC_PITCHRATE_P 0.2
 param set MC_ROLL_P 6
 param set MC_ROLLRATE_P 0.2
-param set MPC_XY_FF 0.1
 param set MPC_XY_P 0.15
 param set MPC_XY_VEL_D 0.005
 param set MPC_XY_VEL_P 0.05
diff --git a/posix-configs/SITL/init/lpe/standard_vtol b/posix-configs/SITL/init/lpe/standard_vtol
index d84f37af4a..1a0b2863f6 100644
--- a/posix-configs/SITL/init/lpe/standard_vtol
+++ b/posix-configs/SITL/init/lpe/standard_vtol
@@ -31,7 +31,6 @@ param set MPC_ACC_HOR_MAX 1.0
 param set MPC_XY_VEL_P 0.1
 param set MPC_XY_VEL_I 0.1
 param set MPC_XY_VEL_D 0.005
-param set MPC_XY_FF 0.1
 param set MPC_Z_VEL_MAX_DN 1.5
 param set MPC_Z_VEL_P 0.6
 param set MPC_Z_VEL_I 0.15