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Copter: remove unused ModeAuto::wp_start

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this version accepts an offset from the ekf origin which is not required.  All callers provide a Location
This commit is contained in:
Randy Mackay 2020-02-17 11:40:55 +09:00
parent 01b5337d91
commit 495c4ad6b6
2 changed files with 0 additions and 16 deletions
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1
ArduCopter/mode.h
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@ -351,7 +351,6 @@ public:
bool loiter_start(); bool loiter_start();
void rtl_start(); void rtl_start();
void takeoff_start(const Location& dest_loc); void takeoff_start(const Location& dest_loc);
void wp_start(const Vector3f& destination, bool terrain_alt);
void wp_start(const Location& dest_loc); void wp_start(const Location& dest_loc);
void land_start(); void land_start();
void land_start(const Vector3f& destination); void land_start(const Vector3f& destination);

15
ArduCopter/mode_auto.cpp
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@ -188,21 +188,6 @@ void ModeAuto::takeoff_start(const Location& dest_loc)
auto_takeoff_set_start_alt(); auto_takeoff_set_start_alt();
} }
// auto_wp_start - initialises waypoint controller to implement flying to a particular destination
void ModeAuto::wp_start(const Vector3f& destination, bool terrain_alt)
{
_mode = Auto_WP;
// initialise wpnav (no need to check return status because terrain data is not used)
wp_nav->set_wp_destination(destination, terrain_alt);
// initialise yaw
// To-Do: reset the yaw only when the previous navigation command is not a WP. this would allow removing the special check for ROI
if (auto_yaw.mode() != AUTO_YAW_ROI) {
auto_yaw.set_mode_to_default(false);
}
}
// auto_wp_start - initialises waypoint controller to implement flying to a particular destination // auto_wp_start - initialises waypoint controller to implement flying to a particular destination
void ModeAuto::wp_start(const Location& dest_loc) void ModeAuto::wp_start(const Location& dest_loc)
{ {