fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

Navigator: loiter: remove unnecessary _loiter_pos_set (#21776)

Browse Source 
* Navigator: loiter: remove unnecessary _loiter_pos_set

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

* Navigator: loiter: remove commented line

---------

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Matthias Grob <maetugr@gmail.com>
This commit is contained in:
Silvan Fuhrer 2023-06-30 15:40:20 +02:00 committed by GitHub
parent a6d2c2cf5e
commit 4348dcce2a
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 0 additions and 19 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

17
src/modules/navigator/loiter.cpp
View File

@ -48,12 +48,6 @@ Loiter::Loiter(Navigator *navigator) :
{
}
void
Loiter::on_inactive()
{
_loiter_pos_set = false;
}
void
Loiter::on_activation()
{
@ -74,11 +68,6 @@ Loiter::on_active()
if (_navigator->get_reposition_triplet()->current.valid) {
reposition();
}
// reset the loiter position if we get disarmed
if (_navigator->get_vstatus()->arming_state != vehicle_status_s::ARMING_STATE_ARMED) {
_loiter_pos_set = false;
}
}
void
@ -93,16 +82,10 @@ Loiter::set_loiter_position()
_navigator->set_can_loiter_at_sp(false);
_navigator->get_position_setpoint_triplet()->current.type = position_setpoint_s::SETPOINT_TYPE_IDLE;
_navigator->set_position_setpoint_triplet_updated();
_loiter_pos_set = false;
return;
} else if (_loiter_pos_set) {
// Already set, nothing to do.
return;
}
_loiter_pos_set = true;
position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
if (_navigator->get_land_detected()->landed) {

2
src/modules/navigator/loiter.h
View File

@ -51,7 +51,6 @@ public:
Loiter(Navigator *navigator);
~Loiter() = default;
void on_inactive() override;
void on_activation() override;
void on_active() override;
@ -67,5 +66,4 @@ private:
*/
void set_loiter_position();
bool _loiter_pos_set{false};
};