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AP_Mission: remove unused copy_alt variable

This commit is contained in:
Peter Barker 2019-01-02 12:25:48 +11:00 committed by Randy Mackay
parent 790f609373
commit 59497c4635
1 changed files with 9 additions and 16 deletions
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25
libraries/AP_Mission/AP_Mission.cpp
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@ -598,7 +598,6 @@ MAV_MISSION_RESULT AP_Mission::sanity_check_params(const mavlink_mission_item_in
MAV_MISSION_RESULT AP_Mission::mavlink_int_to_mission_cmd(const mavlink_mission_item_int_t& packet, AP_Mission::Mission_Command& cmd)
{
bool copy_location = false;
bool copy_alt = false;
// command's position in mission list and mavlink id
cmd.index = packet.seq;
@ -891,25 +890,21 @@ MAV_MISSION_RESULT AP_Mission::mavlink_int_to_mission_cmd(const mavlink_mission_
}
// copy location from mavlink to command
if (copy_location || copy_alt) {
if (copy_location) {
// sanity check location
if (copy_location) {
if (!check_lat(packet.x)) {
return MAV_MISSION_INVALID_PARAM5_X;
}
if (!check_lng(packet.y)) {
return MAV_MISSION_INVALID_PARAM6_Y;
}
if (!check_lat(packet.x)) {
return MAV_MISSION_INVALID_PARAM5_X;
}
if (!check_lng(packet.y)) {
return MAV_MISSION_INVALID_PARAM6_Y;
}
if (isnan(packet.z) || fabsf(packet.z) >= LOCATION_ALT_MAX_M) {
return MAV_MISSION_INVALID_PARAM7;
}
if (copy_location) {
cmd.content.location.lat = packet.x;
cmd.content.location.lng = packet.y;
}
cmd.content.location.lat = packet.x;
cmd.content.location.lng = packet.y;
cmd.content.location.alt = packet.z * 100.0f; // convert packet's alt (m) to cmd alt (cm)
@ -1062,7 +1057,6 @@ MAV_MISSION_RESULT AP_Mission::mavlink_cmd_long_to_mission_cmd(const mavlink_com
bool AP_Mission::mission_cmd_to_mavlink_int(const AP_Mission::Mission_Command& cmd, mavlink_mission_item_int_t& packet)
{
bool copy_location = false;
bool copy_alt = false;
// command's position in mission list and mavlink id
packet.seq = cmd.index;
@ -1354,8 +1348,7 @@ bool AP_Mission::mission_cmd_to_mavlink_int(const AP_Mission::Mission_Command& c
if (copy_location) {
packet.x = cmd.content.location.lat;
packet.y = cmd.content.location.lng;
}
if (copy_location || copy_alt) {
packet.z = cmd.content.location.alt / 100.0f; // cmd alt in cm to m
if (cmd.content.location.flags.relative_alt) {
packet.frame = MAV_FRAME_GLOBAL_RELATIVE_ALT;