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AC_WPNav: Remove unused internals, and unneeded initilizers

This commit is contained in:
Michael du Breuil 2019-03-23 15:51:53 +00:00 committed by Randy Mackay
parent 655421c526
commit 7b5fb719dc
1 changed files with 5 additions and 7 deletions
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12
libraries/AC_WPNav/AC_WPNav.h
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@ -278,8 +278,8 @@ protected:
const AP_AHRS_View& _ahrs;
AC_PosControl& _pos_control;
const AC_AttitudeControl& _attitude_control;
AP_Terrain *_terrain = nullptr;
AC_Avoid *_avoid = nullptr;
AP_Terrain *_terrain;
AC_Avoid *_avoid;
// parameters
AP_Float _wp_speed_cms; // default maximum horizontal speed in cm/s during missions
@ -291,7 +291,6 @@ protected:
// waypoint controller internal variables
uint32_t _wp_last_update; // time of last update_wpnav call
uint8_t _wp_step; // used to decide which portion of wpnav controller to run during this iteration
Vector3f _origin; // starting point of trip to next waypoint in cm from ekf origin
Vector3f _destination; // target destination in cm from ekf origin
Vector3f _pos_delta_unit; // each axis's percentage of the total track from origin to destination
@ -315,10 +314,9 @@ protected:
float _yaw; // heading according to yaw
// terrain following variables
bool _terrain_alt = false; // true if origin and destination.z are alt-above-terrain, false if alt-above-ekf-origin
bool _ekf_origin_terrain_alt_set = false;
bool _terrain_alt; // true if origin and destination.z are alt-above-terrain, false if alt-above-ekf-origin
bool _rangefinder_available;
AP_Int8 _rangefinder_use;
bool _rangefinder_healthy = false;
float _rangefinder_alt_cm = 0.0f;
bool _rangefinder_healthy;
float _rangefinder_alt_cm;
};