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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
2023-09-19 10:04:30 +02:00
parent bb212ea6ec
commit 48acf98fd5
8 changed files with 0 additions and 90 deletions
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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()
{