From 89878fcc884bd73bb0cf64313b40239e4733e9dc Mon Sep 17 00:00:00 2001
From: xdwgood <1308455330@qq.com>
Date: Wed, 3 Feb 2021 09:10:41 +0800
Subject: [PATCH] clean up

---
 ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad | 1 -
 src/drivers/camera_trigger/camera_trigger.cpp        | 4 ----
 src/modules/mc_pos_control/mc_pos_control_params.c   | 2 +-
 3 files changed, 1 insertion(+), 6 deletions(-)

diff --git a/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad b/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad
index 7bb7a3252e9a..5e8306a4cdce 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad
+++ b/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad
@@ -101,7 +101,6 @@ then
 	param set MPC_ACC_HOR_MAX 2
 	param set MPC_LAND_SPEED 1.2
 	param set MPC_TILTMAX_LND 35
-	param set MPC_Z_VEL_MAX 1.5
 	param set MPC_Z_VEL_MAX_UP 1.5
 	param set MPC_Z_VEL_MAX_DN 1.5
 	param set MPC_HOLD_MAX_XY 0.5
diff --git a/src/drivers/camera_trigger/camera_trigger.cpp b/src/drivers/camera_trigger/camera_trigger.cpp
index 745fed294b75..f7073c676632 100644
--- a/src/drivers/camera_trigger/camera_trigger.cpp
+++ b/src/drivers/camera_trigger/camera_trigger.cpp
@@ -54,17 +54,13 @@
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <systemlib/err.h>
 #include <parameters/param.h>
-#include <systemlib/mavlink_log.h>
 
 #include <uORB/Publication.hpp>
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/camera_trigger.h>
-#include <uORB/topics/camera_capture.h>
-#include <uORB/topics/sensor_combined.h>
 #include <uORB/topics/vehicle_command.h>
 #include <uORB/topics/vehicle_command_ack.h>
 #include <uORB/topics/vehicle_local_position.h>
-#include <uORB/topics/vehicle_global_position.h>
 
 #include <drivers/drv_hrt.h>
 
diff --git a/src/modules/mc_pos_control/mc_pos_control_params.c b/src/modules/mc_pos_control/mc_pos_control_params.c
index 59d42627f402..6a7912957c25 100644
--- a/src/modules/mc_pos_control/mc_pos_control_params.c
+++ b/src/modules/mc_pos_control/mc_pos_control_params.c
@@ -679,7 +679,7 @@ PARAM_DEFINE_FLOAT(MPC_YAWRAUTO_MAX, 45.0f);
  *
  * Below this altitude:
  * - descending velocity gets limited to a value
- * between "MPC_Z_VEL_MAX" and "MPC_LAND_SPEED"
+ * between "MPC_Z_VEL_MAX_DN" and "MPC_LAND_SPEED"
  * - horizontal velocity gets limited to a value
  * between "MPC_VEL_MANUAL" and "MPC_LAND_VEL_XY"
  * for a smooth descent and landing experience.