From 36e32ecd7be0f60daa02c38e2b836ea6fa92d8b6 Mon Sep 17 00:00:00 2001 From: RomanBapst Date: Mon, 28 Mar 2022 11:33:29 +0300 Subject: [PATCH] navigator: stop handling speed changes via reposition triplet - the mc and fw controllers are handling the speed changes directly Signed-off-by: RomanBapst --- src/modules/navigator/navigator_main.cpp | 13 ------------- 1 file changed, 13 deletions(-) diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 3f3608e192..db6d5fc340 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -488,19 +488,6 @@ void Navigator::run() } } - if (get_vstatus()->nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER) { - - // publish new reposition setpoint with updated speed/throtte when DO_CHANGE_SPEED - // was received in AUTO_LOITER mode - - position_setpoint_triplet_s *rep = get_reposition_triplet(); - - // set repo setpoint to current, and only change speed and throttle fields - *rep = *(get_position_setpoint_triplet()); - rep->current.cruising_speed = get_cruising_speed(); - rep->current.cruising_throttle = get_cruising_throttle(); - } - // TODO: handle responses for supported DO_CHANGE_SPEED options? publish_vehicle_command_ack(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);