From 4348dcce2a7a861b941932c74af371c24877cf4b Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Fri, 30 Jun 2023 15:40:20 +0200 Subject: [PATCH] Navigator: loiter: remove unnecessary _loiter_pos_set (#21776) * Navigator: loiter: remove unnecessary _loiter_pos_set Signed-off-by: Silvan Fuhrer * Navigator: loiter: remove commented line --------- Signed-off-by: Silvan Fuhrer Co-authored-by: Matthias Grob --- src/modules/navigator/loiter.cpp | 17 ----------------- src/modules/navigator/loiter.h | 2 -- 2 files changed, 19 deletions(-) diff --git a/src/modules/navigator/loiter.cpp b/src/modules/navigator/loiter.cpp index 655db702fa..9b4c107c44 100644 --- a/src/modules/navigator/loiter.cpp +++ b/src/modules/navigator/loiter.cpp @@ -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) { diff --git a/src/modules/navigator/loiter.h b/src/modules/navigator/loiter.h index 9d2e84cda4..3af6265e1c 100644 --- a/src/modules/navigator/loiter.h +++ b/src/modules/navigator/loiter.h @@ -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}; };