From 1fd343b5cc7321d2e16a70ef4a086bcae58f945d Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Fri, 21 Apr 2017 11:35:34 -0400 Subject: [PATCH] navigator remove FW and MC cruise parameters --- src/modules/navigator/navigator.h | 5 +---- src/modules/navigator/navigator_main.cpp | 9 +++------ 2 files changed, 4 insertions(+), 10 deletions(-) diff --git a/src/modules/navigator/navigator.h b/src/modules/navigator/navigator.h index 15f53df2ea..0ad16bc560 100644 --- a/src/modules/navigator/navigator.h +++ b/src/modules/navigator/navigator.h @@ -291,14 +291,11 @@ private: NavigatorMode *_navigation_mode_array[NAVIGATOR_MODE_ARRAY_SIZE]; /**< array of navigation modes */ control::BlockParamFloat _param_loiter_radius; /**< loiter radius for fixedwing */ + control::BlockParamFloat _param_acceptance_radius; /**< acceptance for takeoff */ control::BlockParamFloat _param_fw_alt_acceptance_radius; /**< acceptance radius for fixedwing altitude */ control::BlockParamFloat _param_mc_alt_acceptance_radius; /**< acceptance radius for multicopter altitude */ - control::BlockParamFloat _param_cruising_speed_hover; - control::BlockParamFloat _param_cruising_speed_plane; - control::BlockParamFloat _param_cruising_throttle_plane; - float _mission_cruising_speed_mc{-1.0f}; float _mission_cruising_speed_fw{-1.0f}; float _mission_throttle{-1.0f}; diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index fb1216c126..3295214586 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -99,10 +99,7 @@ Navigator::Navigator() : _param_loiter_radius(this, "LOITER_RAD"), _param_acceptance_radius(this, "ACC_RAD"), _param_fw_alt_acceptance_radius(this, "FW_ALT_RAD"), - _param_mc_alt_acceptance_radius(this, "MC_ALT_RAD"), - _param_cruising_speed_hover(this, "MPC_XY_CRUISE", false), - _param_cruising_speed_plane(this, "FW_AIRSPD_TRIM", false), - _param_cruising_throttle_plane(this, "FW_THR_CRUISE", false) + _param_mc_alt_acceptance_radius(this, "MC_ALT_RAD") { /* Create a list of our possible navigation types */ _navigation_mode_array[0] = &_mission; @@ -745,7 +742,7 @@ Navigator::get_cruising_speed() return _mission_cruising_speed_mc; } else { - return _param_cruising_speed_hover.get(); + return -1.0f; } } else { @@ -753,7 +750,7 @@ Navigator::get_cruising_speed() return _mission_cruising_speed_fw; } else { - return _param_cruising_speed_plane.get(); + return -1.0f; } } }