tailsitter: unused variable cleanup

Signed-off-by: Roman <bapstroman@gmail.com>

src/modules/vtol_att_control/tailsitter.cpp

@@ -50,9 +50,7 @@
 Tailsitter::Tailsitter(VtolAttitudeControl *attc) :
 	VtolType(attc)
 {
-	_flight_mode = MC_MODE;
 
-	_params_handles_tailsitter.front_trans_dur_p2 = param_find("VT_TRANS_P2_DUR");
 }
 
 Tailsitter::~Tailsitter()
@@ -63,11 +61,7 @@ Tailsitter::~Tailsitter()
 void
 Tailsitter::parameters_update()
 {
-	float v;
 
-	/* vtol front transition phase 2 duration */
-	param_get(_params_handles_tailsitter.front_trans_dur_p2, &v);
-	_params_tailsitter.front_trans_dur_p2 = v;
 }
 
 void Tailsitter::update_vtol_state()

src/modules/vtol_att_control/tailsitter.h

@@ -43,7 +43,7 @@
 #define TAILSITTER_H
 
 #include "vtol_type.h"
-#include <systemlib/perf_counter.h>  /** is it necsacery? **/
+#include <systemlib/perf_counter.h>
 #include <systemlib/param/param.h>
 #include <drivers/drv_hrt.h>
 
@@ -63,26 +63,18 @@ class Tailsitter : public VtolType
 
 private:
 
-	struct {
-		float front_trans_dur_p2;
-	} _params_tailsitter;
-
-	struct {
-		param_t front_trans_dur_p2;
-	} _params_handles_tailsitter;
-
 	enum vtol_mode {
 		MC_MODE = 0,			/**< vtol is in multicopter mode */
 		TRANSITION_FRONT_P1,	/**< vtol is in front transition part 1 mode */
 		TRANSITION_BACK,		/**< vtol is in back transition mode */
 		FW_MODE					/**< vtol is in fixed wing mode */
 	};
 
-	vtol_mode _flight_mode;			/**< vtol flight mode, defined by enum vtol_mode */
+	vtol_mode _flight_mode = MC_MODE;			/**< vtol flight mode, defined by enum vtol_mode */
 
-	float _thrust_transition_start; // throttle value when we start the front transition
-	float _yaw_transition;	// yaw angle in which transition will take place
-	float _pitch_transition_start;  // pitch angle at the start of transition (tailsitter)
+	float _thrust_transition_start = 0.0f; // throttle value when we start the front transition
+	float _yaw_transition = 0.0f;	// yaw angle in which transition will take place
+	float _pitch_transition_start = 0.0f;  // pitch angle at the start of transition (tailsitter)
 
 	/**
 	 * Update parameters.

src/modules/vtol_att_control/tailsitter_params.c

@@ -37,19 +37,4 @@
  *
  * @author Roman Bapst <bapstroman@gmail.com>
  * @author David Vorsin     <davidvorsin@gmail.com>
- */
-
-/**
- * Duration of front transition phase 2
- *
- * Time in seconds it should take for the rotors to rotate forward completely from the point
- * when the plane has picked up enough airspeed and is ready to go into fixed wind mode.
- *
- * @unit s
- * @min 0.1
- * @max 5.0
- * @increment 0.01
- * @decimal 3
- * @group VTOL Attitude Control
-
-PARAM_DEFINE_FLOAT(VT_TRANS_P2_DUR, 0.5f);*/
+ */