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AC_Circle: remove _rangefinder_use parameter

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We will reuse the WPNAV_RFND_USE parameter indirectly
This commit is contained in:
Randy Mackay 2020-04-09 14:06:24 +09:00
parent f3e2b182a1
commit 03441f2250
2 changed files with 1 additions and 2 deletions
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2
libraries/AC_WPNav/AC_Circle.cpp
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@ -312,7 +312,7 @@ void AC_Circle::init_start_angle(bool use_heading)
AC_Circle::TerrainSource AC_Circle::get_terrain_source() const AC_Circle::TerrainSource AC_Circle::get_terrain_source() const
{ {
// use range finder if connected // use range finder if connected
if (_rangefinder_available && _rangefinder_use) { if (_rangefinder_available) {
return AC_Circle::TerrainSource::TERRAIN_FROM_RANGEFINDER; return AC_Circle::TerrainSource::TERRAIN_FROM_RANGEFINDER;
} }
#if AP_TERRAIN_AVAILABLE #if AP_TERRAIN_AVAILABLE

1
libraries/AC_WPNav/AC_Circle.h
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@ -140,7 +140,6 @@ private:
// terrain following variables // terrain following variables
bool _terrain_alt; // true if _center.z is alt-above-terrain, false if alt-above-ekf-origin bool _terrain_alt; // true if _center.z is alt-above-terrain, false if alt-above-ekf-origin
bool _rangefinder_available; // true if range finder could be used bool _rangefinder_available; // true if range finder could be used
AP_Int8 _rangefinder_use; // true if caller has requested rangefinder be used for terrain altitude
bool _rangefinder_healthy; // true if range finder is healthy bool _rangefinder_healthy; // true if range finder is healthy
float _rangefinder_alt_cm; // latest rangefinder altitude float _rangefinder_alt_cm; // latest rangefinder altitude
}; };