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FlightTaskAuto: remove isTargetModified()

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As it is no longer needed w/o avoidance.

Signed-off-by: Silvan <silvan@auterion.com>
This commit is contained in:
Silvan 2025-01-10 13:34:48 +01:00 committed by Silvan Fuhrer
parent a1ff1d8372
commit 04cd247c90
2 changed files with 0 additions and 15 deletions
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14
src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
View File

@ -159,11 +159,6 @@ bool FlightTaskAuto::update()
_checkEmergencyBraking();
Vector3f waypoints[] = {_prev_wp, _position_setpoint, _next_wp};
if (isTargetModified()) {
// In case object avoidance has injected a new setpoint, we take this as the next waypoints
waypoints[2] = _position_setpoint;
}
const bool should_wait_for_yaw_align = _param_mpc_yaw_mode.get() == int32_t(yaw_mode::towards_waypoint_yaw_first)
&& !_yaw_sp_aligned;
const bool force_zero_velocity_setpoint = should_wait_for_yaw_align || _is_emergency_braking_active;
@ -764,15 +759,6 @@ bool FlightTaskAuto::_generateHeadingAlongTraj()
return res;
}
bool FlightTaskAuto::isTargetModified() const
{
const bool xy_modified = (_target - _position_setpoint).xy().longerThan(FLT_EPSILON);
const bool z_valid = PX4_ISFINITE(_position_setpoint(2));
const bool z_modified = z_valid && std::fabs((_target - _position_setpoint)(2)) > FLT_EPSILON;
return xy_modified || z_modified;
}
void FlightTaskAuto::_updateTrajConstraints()
{
// update params of the position smoothing

1
src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp
View File

@ -108,7 +108,6 @@ protected:
void _checkEmergencyBraking();
bool _generateHeadingAlongTraj(); /**< Generates heading along trajectory. */
bool isTargetModified() const;
void _updateTrajConstraints();
void rcHelpModifyYaw(float &yaw_sp);