From 0b86c11c66fc6816e09d900fcdedb4bfee6c9f26 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Fri, 11 Dec 2020 16:02:40 +0100 Subject: [PATCH] FW POS: remove setting of curr_sp to LOITER if next wp invalid Signed-off-by: Silvan Fuhrer --- src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp | 3 --- 1 file changed, 3 deletions(-) diff --git a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp index 0e5b78789f..a875056773 100644 --- a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp +++ b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp @@ -734,9 +734,6 @@ FixedwingPositionControl::control_position(const hrt_abstime &now, const Vector2 && (dist_xy < 2.f * math::max(acc_rad, fabsf(pos_sp_curr.loiter_radius)))) { // SETPOINT_TYPE_POSITION -> SETPOINT_TYPE_LOITER position_sp_type = position_setpoint_s::SETPOINT_TYPE_LOITER; - - } else if ((dist_xy < 2.f * math::max(acc_rad, fabsf(pos_sp_curr.loiter_radius))) && !pos_sp_next.valid) { - position_sp_type = position_setpoint_s::SETPOINT_TYPE_LOITER; } } else if (pos_sp_curr.type == position_setpoint_s::SETPOINT_TYPE_LOITER) {