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Navigator remove unnecessary calls to updateParams

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- the SuperBlock already does this
This commit is contained in:
Daniel Agar
2018-01-14 12:53:53 +01:00
committed by Lorenz Meier
parent 6227139df1
commit 25c7a03a8b
24 changed files with 107 additions and 274 deletions
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src/modules/navigator/takeoff.cpp
+6 -29
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@@ -38,33 +38,11 @@
* @author Lorenz Meier <lorenz@px4.io
*/
#include <string.h>
#include <stdlib.h>
#include <stdbool.h>
#include <math.h>
#include <fcntl.h>
#include <systemlib/mavlink_log.h>
#include <systemlib/err.h>
#include <uORB/uORB.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include "takeoff.h"
#include "navigator.h"
Takeoff::Takeoff(Navigator *navigator, const char *name) :
MissionBlock(navigator, name),
_param_min_alt(this, "MIS_TAKEOFF_ALT", false)
{
}
Takeoff::~Takeoff()
{
}
void
Takeoff::on_inactive()
MissionBlock(navigator, name)
{
}
@@ -106,10 +84,10 @@ Takeoff::set_takeoff_position()
float min_abs_altitude;
if (_navigator->home_position_valid()) { //only use home position if it is valid
min_abs_altitude = _navigator->get_global_position()->alt + _param_min_alt.get();
min_abs_altitude = _navigator->get_global_position()->alt + _navigator->get_takeoff_min_alt();
} else { //e.g. flow
min_abs_altitude = _param_min_alt.get();
min_abs_altitude = _navigator->get_takeoff_min_alt();
}
// Use altitude if it has been set. If home position is invalid use min_abs_altitude
@@ -120,22 +98,21 @@ Takeoff::set_takeoff_position()
if (abs_altitude < min_abs_altitude) {
abs_altitude = min_abs_altitude;
mavlink_log_critical(_navigator->get_mavlink_log_pub(),
"Using minimum takeoff altitude: %.2f m", (double)_param_min_alt.get());
"Using minimum takeoff altitude: %.2f m", (double)_navigator->get_takeoff_min_alt());
}
} else {
// Use home + minimum clearance but only notify.
abs_altitude = min_abs_altitude;
mavlink_log_info(_navigator->get_mavlink_log_pub(),
"Using minimum takeoff altitude: %.2f m", (double)_param_min_alt.get());
"Using minimum takeoff altitude: %.2f m", (double)_navigator->get_takeoff_min_alt());
}
if (abs_altitude < _navigator->get_global_position()->alt) {
// If the suggestion is lower than our current alt, let's not go down.
abs_altitude = _navigator->get_global_position()->alt;
mavlink_log_critical(_navigator->get_mavlink_log_pub(),
"Already higher than takeoff altitude");
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Already higher than takeoff altitude");
}
// set current mission item to takeoff