From 0cbb693a8d31f2fb3e69dda463241a7cfa9bfaf0 Mon Sep 17 00:00:00 2001
From: Mark Sauder <mcsauder@gmail.com>
Date: Tue, 15 Oct 2019 00:19:53 -0600
Subject: [PATCH] Add `return INFINITY;` to the LandDetector class
 `_get_max_altitude()` method declaration (#12343)

---
 src/modules/land_detector/FixedwingLandDetector.cpp | 7 -------
 src/modules/land_detector/FixedwingLandDetector.h   | 4 ----
 src/modules/land_detector/LandDetector.h            | 1 -
 src/modules/land_detector/MulticopterLandDetector.h | 5 -----
 src/modules/land_detector/VtolLandDetector.h        | 1 -
 5 files changed, 18 deletions(-)

diff --git a/src/modules/land_detector/FixedwingLandDetector.cpp b/src/modules/land_detector/FixedwingLandDetector.cpp
index aac241829d..5da46baf00 100644
--- a/src/modules/land_detector/FixedwingLandDetector.cpp
+++ b/src/modules/land_detector/FixedwingLandDetector.cpp
@@ -57,13 +57,6 @@ void FixedwingLandDetector::_update_topics()
 	_airspeed_sub.update(&_airspeed);
 }
 
-float FixedwingLandDetector::_get_max_altitude()
-{
-	// TODO: This means no altitude limit as the limit
-	// is always current position plus 10000 meters.
-	return roundf(-_vehicle_local_position.z + 10000);
-}
-
 bool FixedwingLandDetector::_get_landed_state()
 {
 	// Only trigger flight conditions if we are armed.
diff --git a/src/modules/land_detector/FixedwingLandDetector.h b/src/modules/land_detector/FixedwingLandDetector.h
index 4cadc97737..be1ceac67c 100644
--- a/src/modules/land_detector/FixedwingLandDetector.h
+++ b/src/modules/land_detector/FixedwingLandDetector.h
@@ -43,7 +43,6 @@
 #pragma once
 
 #include <matrix/math.hpp>
-#include <uORB/Subscription.hpp>
 #include <uORB/topics/airspeed.h>
 
 #include "LandDetector.h"
@@ -61,9 +60,6 @@ public:
 protected:
 
 	bool _get_landed_state() override;
-
-	float _get_max_altitude() override;
-
 	void _update_topics() override;
 
 private:
diff --git a/src/modules/land_detector/LandDetector.h b/src/modules/land_detector/LandDetector.h
index cfcdf0cca2..f198fe78f0 100644
--- a/src/modules/land_detector/LandDetector.h
+++ b/src/modules/land_detector/LandDetector.h
@@ -61,7 +61,6 @@
 #include <uORB/topics/vehicle_land_detected.h>
 #include <uORB/topics/vehicle_local_position.h>
 
-
 using namespace time_literals;
 
 namespace land_detector
diff --git a/src/modules/land_detector/MulticopterLandDetector.h b/src/modules/land_detector/MulticopterLandDetector.h
index 0c63c0ef47..4db1a7e437 100644
--- a/src/modules/land_detector/MulticopterLandDetector.h
+++ b/src/modules/land_detector/MulticopterLandDetector.h
@@ -42,16 +42,11 @@
 
 #pragma once
 
-#include <math.h>
-
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/battery_status.h>
-#include <uORB/topics/parameter_update.h>
-#include <uORB/topics/vehicle_acceleration.h>
 #include <uORB/topics/vehicle_angular_velocity.h>
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_control_mode.h>
-#include <uORB/topics/vehicle_local_position.h>
 #include <uORB/topics/vehicle_local_position_setpoint.h>
 
 #include "LandDetector.h"
diff --git a/src/modules/land_detector/VtolLandDetector.h b/src/modules/land_detector/VtolLandDetector.h
index d54541963a..48fd69f86e 100644
--- a/src/modules/land_detector/VtolLandDetector.h
+++ b/src/modules/land_detector/VtolLandDetector.h
@@ -41,7 +41,6 @@
 
 #pragma once
 
-#include <uORB/Subscription.hpp>
 #include <uORB/topics/airspeed.h>
 #include <uORB/topics/vehicle_status.h>