From 69af6386b3c9c8d26db70628f58b7ffddb83ad62 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Tue, 28 Jan 2020 11:05:05 +0100 Subject: [PATCH] mc_pos_control_main: remove obsolete input setpoint assignments These assignments were temporary for correct logging of the input setpoint which now properly also comes out of the controller again. This is reverting the hotfix from: dee8d200d8bb42cd964065f9a6506e3c4a901f10 --- src/modules/mc_pos_control/mc_pos_control_main.cpp | 4 ---- 1 file changed, 4 deletions(-) diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index 11a6e83986..5bf1edea8b 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -626,10 +626,6 @@ MulticopterPositionControl::Run() vehicle_local_position_setpoint_s local_pos_sp{}; local_pos_sp.timestamp = time_stamp_now; _control.getLocalPositionSetpoint(local_pos_sp); - // Temporary setpoint message adjustments while PositionControl class is still keeping involved internal setpoints - local_pos_sp.x = setpoint.x; - local_pos_sp.y = setpoint.y; - local_pos_sp.z = setpoint.z; // Publish local position setpoint // This message will be used by other modules (such as Landdetector) to determine vehicle intention.