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navigator: stop handling speed changes via reposition triplet 

- the mc and fw controllers are handling the speed changes directly

Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst 2022-03-28 11:33:29 +03:00 committed by Roman Bapst
parent 35613df210
commit 36e32ecd7b
1 changed files with 0 additions and 13 deletions
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13
src/modules/navigator/navigator_main.cpp
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@ -488,19 +488,6 @@ void Navigator::run()
}
}
if (get_vstatus()->nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER) {
// publish new reposition setpoint with updated speed/throtte when DO_CHANGE_SPEED
// was received in AUTO_LOITER mode
position_setpoint_triplet_s *rep = get_reposition_triplet();
// set repo setpoint to current, and only change speed and throttle fields
*rep = *(get_position_setpoint_triplet());
rep->current.cruising_speed = get_cruising_speed();
rep->current.cruising_throttle = get_cruising_throttle();
}
// TODO: handle responses for supported DO_CHANGE_SPEED options?
publish_vehicle_command_ack(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);