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AC_WPNav: remove unused function

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chobits 2021-04-29 10:17:17 +08:00 committed by Randy Mackay
parent 7b60ace18b
commit 00b44ff6c8
2 changed files with 0 additions and 25 deletions
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20
libraries/AC_WPNav/AC_WPNav.cpp
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@ -365,26 +365,6 @@ bool AC_WPNav::set_wp_destination_next_NED(const Vector3f& destination_NED)
return set_wp_destination_next(Vector3f(destination_NED.x * 100.0f, destination_NED.y * 100.0f, -destination_NED.z * 100.0f), false);
}
/// shift_wp_origin_to_current_pos - shifts the origin and destination so the origin starts at the current position
/// used to reset the position just before takeoff
/// relies on set_wp_destination or set_wp_origin_and_destination having been called first
void AC_WPNav::shift_wp_origin_to_current_pos()
{
// get current and target locations
const Vector3f &curr_pos = _inav.get_position();
const Vector3f pos_target = _pos_control.get_pos_target();
// calculate difference between current position and target
Vector3f pos_diff = curr_pos - pos_target;
// shift origin and destination
_origin += pos_diff;
_destination += pos_diff;
// move pos controller target and disable feed forward
_pos_control.set_pos_target(curr_pos);
}
/// shifts the origin and destination horizontally to the current position
/// used to reset the track when taking off without horizontal position control
/// relies on set_wp_destination or set_wp_origin_and_destination having been called first

5
libraries/AC_WPNav/AC_WPNav.h
View File

@ -116,11 +116,6 @@ public:
bool set_wp_destination_NED(const Vector3f& destination_NED);
bool set_wp_destination_next_NED(const Vector3f& destination_NED);
/// shift_wp_origin_to_current_pos - shifts the origin and destination so the origin starts at the current position
/// used to reset the position just before takeoff
/// relies on set_wp_destination or set_wp_origin_and_destination having been called first
void shift_wp_origin_to_current_pos();
/// shifts the origin and destination horizontally to the current position
/// used to reset the track when taking off without horizontal position control
/// relies on set_wp_destination or set_wp_origin_and_destination having been called first