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Rover: remove duplicate calls from update_navigation()

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calc_lateral_acceleration() and calc_nav_steer() aren't need here
This commit is contained in:
khancyr 2017-07-19 12:09:33 +02:00 committed by Randy Mackay
parent ca3bc05c28
commit ded1bad6c3
2 changed files with 6 additions and 28 deletions
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3
APMrover2/mode_auto.cpp
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@ -43,9 +43,6 @@ void ModeAuto::update()
void ModeAuto::update_navigation()
{
mission.update();
if (rover.do_auto_rotation) {
rover.do_yaw_rotation();
}
}
/*

31
APMrover2/mode_guided.cpp
View File

@ -54,30 +54,11 @@ void ModeGuided::update()
void ModeGuided::update_navigation()
{
switch (guided_mode) {
case Guided_Angle:
rover.nav_set_yaw_speed();
break;
case Guided_WP:
// no loitering around the wp with the rover, goes direct to the wp position
if (rover.rtl_complete || rover.verify_RTL()) {
// we have reached destination so stop where we are
g2.motors.set_throttle(g.throttle_min.get());
g2.motors.set_steering(0.0f);
lateral_acceleration = 0.0f;
} else {
calc_lateral_acceleration();
calc_nav_steer();
}
break;
case Guided_Velocity:
rover.nav_set_speed();
break;
default:
gcs().send_text(MAV_SEVERITY_WARNING, "Unknown GUIDED mode");
break;
// no loitering around the wp with the rover, goes direct to the wp position
if (guided_mode == Guided_WP && (rover.rtl_complete || rover.verify_RTL())) {
// we have reached destination so stop where we are
g2.motors.set_throttle(g.throttle_min.get());
g2.motors.set_steering(0.0f);
lateral_acceleration = 0.0f;
}
}