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Navigator: remove deprecated _can_loiter_at_sp and _need_takeoff

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-01-09 15:19:03 +01:00
parent bb212ea6ec
commit 48acf98fd5
8 changed files with 0 additions and 90 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/navigator/land.cpp
-2
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@@ -62,8 +62,6 @@ Land::on_activation()
mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
pos_sp_triplet->next.valid = false;
_navigator->set_can_loiter_at_sp(false);
_navigator->set_position_setpoint_triplet_updated();
// reset cruising speed to default
src/modules/navigator/loiter.cpp
-3
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@@ -82,7 +82,6 @@ Loiter::set_loiter_position()
// Not setting loiter position if disarmed and landed, instead mark the current
// setpoint as invalid and idle (both, just to be sure).
_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();
return;
@@ -110,7 +109,6 @@ Loiter::set_loiter_position()
mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
pos_sp_triplet->next.valid = false;
_navigator->set_can_loiter_at_sp(pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_LOITER);
_navigator->set_position_setpoint_triplet_updated();
}
@@ -136,7 +134,6 @@ Loiter::reposition()
memcpy(&pos_sp_triplet->current, &rep->current, sizeof(rep->current));
pos_sp_triplet->next.valid = false;
_navigator->set_can_loiter_at_sp(pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_LOITER);
_navigator->set_position_setpoint_triplet_updated();
// mark this as done
src/modules/navigator/mission.cpp
-62
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@@ -168,11 +168,6 @@ Mission::on_inactive()
_inited = true;
}
/* require takeoff after non-loiter or landing */
if (!_navigator->get_can_loiter_at_sp() || _navigator->get_land_detected()->landed) {
_need_takeoff = true;
}
/* reset so current mission item gets restarted if mission was paused */
_work_item_type = WORK_ITEM_TYPE_DEFAULT;
@@ -323,11 +318,6 @@ Mission::on_active()
set_mission_items();
}
} else {
/* if waypoint position reached allow loiter on the setpoint */
if (_waypoint_position_reached && _mission_item.nav_cmd != NAV_CMD_IDLE) {
_navigator->set_can_loiter_at_sp(true);
}
}
/* see if we need to update the current yaw heading */
@@ -801,9 +791,6 @@ Mission::set_mission_items()
} else {
events::send(events::ID("mission_finished_loiter"), events::Log::Info, "Mission finished, loitering");
}
/* use last setpoint for loiter */
_navigator->set_can_loiter_at_sp(true);
}
user_feedback_done = true;
@@ -832,9 +819,6 @@ Mission::set_mission_items()
mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
pos_sp_triplet->next.valid = false;
/* reuse setpoint for LOITER only if it's not IDLE */
_navigator->set_can_loiter_at_sp(pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_LOITER);
// set mission finished
_navigator->get_mission_result()->finished = true;
_navigator->set_mission_result_updated();
@@ -1274,14 +1258,6 @@ Mission::set_mission_items()
/* set current work item type */
_work_item_type = new_work_item_type;
/* require takeoff after landing or idle */
if (pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_LAND
|| pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_IDLE) {
_need_takeoff = true;
}
_navigator->set_can_loiter_at_sp(false);
reset_mission_item_reached();
if (_mission_type == MISSION_TYPE_MISSION) {
@@ -1330,44 +1306,6 @@ Mission::set_mission_items()
_navigator->set_position_setpoint_triplet_updated();
}
bool
Mission::do_need_vertical_takeoff()
{
if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
float takeoff_alt = calculate_takeoff_altitude(&_mission_item);
if (_navigator->get_land_detected()->landed) {
/* force takeoff if landed (additional protection) */
_need_takeoff = true;
} else if (_navigator->get_global_position()->alt > takeoff_alt - _navigator->get_altitude_acceptance_radius()) {
/* if in-air and already above takeoff height, don't do takeoff */
_need_takeoff = false;
} else if (_navigator->get_global_position()->alt <= takeoff_alt - _navigator->get_altitude_acceptance_radius()
&& (_mission_item.nav_cmd == NAV_CMD_TAKEOFF
|| _mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF)) {
/* if in-air but below takeoff height and we have a takeoff item */
_need_takeoff = true;
}
/* check if current mission item is one that requires takeoff before */
if (_need_takeoff && (
_mission_item.nav_cmd == NAV_CMD_TAKEOFF ||
_mission_item.nav_cmd == NAV_CMD_WAYPOINT ||
_mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF ||
_mission_item.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT ||
_mission_item.nav_cmd == NAV_CMD_LOITER_UNLIMITED)) {
_need_takeoff = false;
return true;
}
}
return false;
}
bool
Mission::do_need_move_to_land()
{
src/modules/navigator/mission.h
-7
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@@ -133,11 +133,6 @@ private:
*/
void set_mission_items();
/**
* Returns true if we need to do a takeoff at the current state
*/
bool do_need_vertical_takeoff();
/**
* Returns true if we need to move to waypoint location before starting descent
*/
@@ -348,8 +343,6 @@ private:
float _mission_init_climb_altitude_amsl{NAN}; /**< altitude AMSL the vehicle will climb to when mission starts */
bool _need_takeoff{true}; /**< if true, then takeoff must be performed before going to the first waypoint (if needed) */
enum {
MISSION_TYPE_NONE,
MISSION_TYPE_MISSION
src/modules/navigator/navigator.h
-4
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@@ -142,7 +142,6 @@ public:
/**
* Setters
*/
void set_can_loiter_at_sp(bool can_loiter) { _can_loiter_at_sp = can_loiter; }
void set_position_setpoint_triplet_updated() { _pos_sp_triplet_updated = true; }
void set_mission_result_updated() { _mission_result_updated = true; }
@@ -171,8 +170,6 @@ public:
Geofence &get_geofence() { return _geofence; }
bool get_can_loiter_at_sp() { return _can_loiter_at_sp; }
float get_loiter_radius() { return _param_nav_loiter_rad.get(); }
/**
@@ -358,7 +355,6 @@ private:
hrt_abstime _last_geofence_check = 0;
bool _geofence_violation_warning_sent{false}; /**< prevents spaming to mavlink */
bool _can_loiter_at_sp{false}; /**< flags if current position SP can be used to loiter */
bool _pos_sp_triplet_updated{false}; /**< flags if position SP triplet needs to be published */
bool _pos_sp_triplet_published_invalid_once{false}; /**< flags if position SP triplet has been published once to UORB */
bool _mission_result_updated{false}; /**< flags if mission result has seen an update */
src/modules/navigator/navigator_main.cpp
-1
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@@ -851,7 +851,6 @@ void Navigator::run()
case vehicle_status_s::NAVIGATION_STATE_STAB:
default:
navigation_mode_new = nullptr;
_can_loiter_at_sp = false;
break;
}
src/modules/navigator/rtl.cpp
-4
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@@ -416,8 +416,6 @@ void RTL::on_active()
void RTL::set_rtl_item()
{
_navigator->set_can_loiter_at_sp(false);
const vehicle_global_position_s &gpos = *_navigator->get_global_position();
position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
@@ -577,8 +575,6 @@ void RTL::set_rtl_item()
_mission_item.origin = ORIGIN_ONBOARD;
_mission_item.loiter_radius = landing_loiter_radius;
_navigator->set_can_loiter_at_sp(true);
break;
}
src/modules/navigator/takeoff.cpp
-7
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@@ -181,12 +181,5 @@ Takeoff::set_takeoff_position()
memset(rep, 0, sizeof(*rep));
}
if (PX4_ISFINITE(pos_sp_triplet->current.lat) && PX4_ISFINITE(pos_sp_triplet->current.lon)) {
_navigator->set_can_loiter_at_sp(true);
} else {
_navigator->set_can_loiter_at_sp(false);
}
_navigator->set_position_setpoint_triplet_updated();
}