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Rover: remove speed_error that is never updated

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This commit is contained in:
Randy Mackay 2019-05-04 15:23:16 +09:00
parent 75ba96b7a2
commit c4766ec143
1 changed files with 3 additions and 4 deletions
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7
APMrover2/mode.h
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@ -94,6 +94,9 @@ public:
virtual float nav_bearing() const; virtual float nav_bearing() const;
virtual float crosstrack_error() const; virtual float crosstrack_error() const;
// get speed error in m/s, not currently supported
float speed_error() const { return 0.0f; }
// //
// navigation methods // navigation methods
// //
@ -111,9 +114,6 @@ public:
// set desired heading and speed - supported in Auto and Guided modes // set desired heading and speed - supported in Auto and Guided modes
virtual void set_desired_heading_and_speed(float yaw_angle_cd, float target_speed); virtual void set_desired_heading_and_speed(float yaw_angle_cd, float target_speed);
// get speed error in m/s, returns zero for modes that do not control speed
float speed_error() const { return _speed_error; }
// get default speed for this mode (held in CRUISE_SPEED, WP_SPEED or RTL_SPEED) // get default speed for this mode (held in CRUISE_SPEED, WP_SPEED or RTL_SPEED)
// rtl argument should be true if called from RTL or SmartRTL modes (handled here to avoid duplication) // rtl argument should be true if called from RTL or SmartRTL modes (handled here to avoid duplication)
float get_speed_default(bool rtl = false) const; float get_speed_default(bool rtl = false) const;
@ -208,7 +208,6 @@ protected:
float _desired_yaw_cd; // desired yaw in centi-degrees float _desired_yaw_cd; // desired yaw in centi-degrees
float _yaw_error_cd; // error between desired yaw and actual yaw in centi-degrees float _yaw_error_cd; // error between desired yaw and actual yaw in centi-degrees
float _desired_speed; // desired speed in m/s float _desired_speed; // desired speed in m/s
float _speed_error; // ground speed error in m/s
}; };