From 32e66c0907b2c66e52aa2c062e374d66d505adf5 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Mon, 8 Apr 2024 08:14:14 +0200 Subject: [PATCH] FlightTaskAuto: remove separate highEnoughForLandingGear function --- .../flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp | 8 +------- .../flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp | 1 - 2 files changed, 1 insertion(+), 8 deletions(-) diff --git a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp index 4c5fbc8be7..c0c411d494 100644 --- a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp +++ b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp @@ -117,7 +117,7 @@ bool FlightTaskAuto::update() // during mission and reposition, raise the landing gears but only // if altitude is high enough - if (_highEnoughForLandingGear()) { + if (_dist_to_ground > 2.f) { _gear.landing_gear = landing_gear_s::GEAR_UP; } @@ -850,12 +850,6 @@ void FlightTaskAuto::_updateTrajConstraints() _constraints.speed_up = math::max(_constraints.speed_up, 1.2f * _param_mpc_z_v_auto_up.get());; } -bool FlightTaskAuto::_highEnoughForLandingGear() -{ - // return true if altitude is above two meters - return _dist_to_ground > 2.0f; -} - void FlightTaskAuto::updateParams() { FlightTask::updateParams(); diff --git a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp index fc671cd5e5..523eca28bd 100644 --- a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp +++ b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp @@ -115,7 +115,6 @@ protected: bool _checkTakeoff() override { return _want_takeoff; }; void _prepareLandSetpoints(); - bool _highEnoughForLandingGear(); /**< Checks if gears can be lowered. */ void updateParams() override; /**< See ModuleParam class */