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FlightTaskAuto: remove unused _getTargetVelocityXY() 

Inclusive velocity_valid field in position_setpoint message that's then
no longer needed.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2022-10-17 16:50:53 +02:00 committed by Daniel Agar
parent 42c613a0c7
commit 5ea8c6e507
5 changed files with 0 additions and 22 deletions
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1
msg/position_setpoint.msg
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@ -15,7 +15,6 @@ uint8 type # setpoint type to adjust behavior of position controller
float32 vx # local velocity setpoint in m/s in NED
float32 vy # local velocity setpoint in m/s in NED
float32 vz # local velocity setpoint in m/s in NED
bool velocity_valid # true if local velocity setpoint valid
float64 lat # latitude, in deg
float64 lon # longitude, in deg

17
src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
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@ -599,23 +599,6 @@ bool FlightTaskAuto::_evaluateGlobalReference()
return PX4_ISFINITE(_reference_altitude) && PX4_ISFINITE(ref_lat) && PX4_ISFINITE(ref_lon);
}
Vector2f FlightTaskAuto::_getTargetVelocityXY()
{
// guard against any bad velocity values
const float vx = _sub_triplet_setpoint.get().current.vx;
const float vy = _sub_triplet_setpoint.get().current.vy;
bool velocity_valid = PX4_ISFINITE(vx) && PX4_ISFINITE(vy) &&
_sub_triplet_setpoint.get().current.velocity_valid;
if (velocity_valid) {
return Vector2f(vx, vy);
} else {
// just return zero speed
return Vector2f{};
}
}
State FlightTaskAuto::_getCurrentState()
{
// Calculate the vehicle current state based on the Navigator triplets and the current position.

1
src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp
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@ -94,7 +94,6 @@ public:
void overrideCruiseSpeed(const float cruise_speed_m_s) override;
protected:
matrix::Vector2f _getTargetVelocityXY(); /**< only used for follow-me and only here because of legacy reason.*/
void _updateInternalWaypoints(); /**< Depending on state of vehicle, the internal waypoints might differ from target (for instance if offtrack). */
bool _compute_heading_from_2D_vector(float &heading, matrix::Vector2f v); /**< Computes and sets heading a 2D vector */

2
src/modules/navigator/loiter.cpp
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@ -121,7 +121,6 @@ Loiter::set_loiter_position()
}
// convert mission item to current setpoint
pos_sp_triplet->current.velocity_valid = false;
pos_sp_triplet->previous.valid = false;
mission_apply_limitation(_mission_item);
mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
@ -146,7 +145,6 @@ Loiter::reposition()
// convert mission item to current setpoint
struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
pos_sp_triplet->current.velocity_valid = false;
pos_sp_triplet->previous.yaw = _navigator->get_local_position()->heading;
pos_sp_triplet->previous.lat = _navigator->get_global_position()->lat;
pos_sp_triplet->previous.lon = _navigator->get_global_position()->lon;

1
src/modules/navigator/mission.cpp
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@ -1882,7 +1882,6 @@ bool Mission::position_setpoint_equal(const position_setpoint_s *p1, const posit
(fabsf(p1->vx - p2->vx) < FLT_EPSILON) &&
(fabsf(p1->vy - p2->vy) < FLT_EPSILON) &&
(fabsf(p1->vz - p2->vz) < FLT_EPSILON) &&
(p1->velocity_valid == p2->velocity_valid) &&
(fabs(p1->lat - p2->lat) < DBL_EPSILON) &&
(fabs(p1->lon - p2->lon) < DBL_EPSILON) &&
(fabsf(p1->alt - p2->alt) < FLT_EPSILON) &&