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Copter: verify_circle removes redundant setting of circle center

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the circle center is already set in circle_movetoedge_start
This commit is contained in:
Randy Mackay 2020-06-02 14:15:31 +09:00
parent b21f9030b7
commit d2b94bd45d
1 changed files with 0 additions and 17 deletions
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17
ArduCopter/mode_auto.cpp
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@ -1822,23 +1822,6 @@ bool ModeAuto::verify_circle(const AP_Mission::Mission_Command& cmd)
// check if we've reached the edge // check if we've reached the edge
if (mode() == Auto_CircleMoveToEdge) { if (mode() == Auto_CircleMoveToEdge) {
if (copter.wp_nav->reached_wp_destination()) { if (copter.wp_nav->reached_wp_destination()) {
Vector3f circle_center;
if (!cmd.content.location.get_vector_from_origin_NEU(circle_center)) {
// should never happen
return true;
}
const Vector3f curr_pos = copter.inertial_nav.get_position();
// set target altitude if not provided
if (is_zero(circle_center.z)) {
circle_center.z = curr_pos.z;
}
// set lat/lon position if not provided
if (cmd.content.location.lat == 0 && cmd.content.location.lng == 0) {
circle_center.x = curr_pos.x;
circle_center.y = curr_pos.y;
}
// start circling // start circling
circle_start(); circle_start();
} }