From 4dcc77b82298d9887f104b729b850396a0c95953 Mon Sep 17 00:00:00 2001 From: Martina Rivizzigno Date: Mon, 4 Mar 2019 09:06:21 +0100 Subject: [PATCH] ObstacleAvoidance: remove printf and remove unnecessary new lines --- src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp | 2 -- src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.hpp | 3 --- .../FlightTasks/tasks/AutoMapper2/FlightTaskAutoMapper2.cpp | 2 -- .../FlightTasks/tasks/AutoMapper2/FlightTaskAutoMapper2.hpp | 1 - src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.cpp | 2 +- 5 files changed, 1 insertion(+), 9 deletions(-) diff --git a/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp b/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp index 02f723fad1..23af261629 100644 --- a/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp +++ b/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp @@ -235,8 +235,6 @@ bool FlightTaskAuto::_evaluateTriplets() State previous_state = _current_state; _current_state = _getCurrentState(); - - if (triplet_update || (_current_state != previous_state)) { _updateInternalWaypoints(); _mission_gear = _sub_triplet_setpoint->get().current.landing_gear; diff --git a/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.hpp b/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.hpp index 46265cf2d1..7ba922c4ef 100644 --- a/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.hpp +++ b/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.hpp @@ -47,7 +47,6 @@ #include #include "lib/FlightTasks/tasks/Utility/ObstacleAvoidance.hpp" - /** * This enum has to agree with position_setpoint_s type definition * The only reason for not using the struct position_setpoint is because @@ -114,8 +113,6 @@ protected: (ParamInt) _param_com_obs_avoid // obstacle avoidance active ); - - private: matrix::Vector2f _lock_position_xy{NAN, NAN}; /**< if no valid triplet is received, lock positition to current position */ bool _yaw_lock = false; /**< if within acceptance radius, lock yaw to current yaw */ diff --git a/src/lib/FlightTasks/tasks/AutoMapper2/FlightTaskAutoMapper2.cpp b/src/lib/FlightTasks/tasks/AutoMapper2/FlightTaskAutoMapper2.cpp index 894a4389c1..2e96948931 100644 --- a/src/lib/FlightTasks/tasks/AutoMapper2/FlightTaskAutoMapper2.cpp +++ b/src/lib/FlightTasks/tasks/AutoMapper2/FlightTaskAutoMapper2.cpp @@ -40,8 +40,6 @@ using namespace matrix; - - bool FlightTaskAutoMapper2::activate() { bool ret = FlightTaskAuto::activate(); diff --git a/src/lib/FlightTasks/tasks/AutoMapper2/FlightTaskAutoMapper2.hpp b/src/lib/FlightTasks/tasks/AutoMapper2/FlightTaskAutoMapper2.hpp index dbcc69e7b9..226a54427f 100644 --- a/src/lib/FlightTasks/tasks/AutoMapper2/FlightTaskAutoMapper2.hpp +++ b/src/lib/FlightTasks/tasks/AutoMapper2/FlightTaskAutoMapper2.hpp @@ -80,5 +80,4 @@ private: void _reset(); /**< Resets member variables to current vehicle state */ WaypointType _type_previous{WaypointType::idle}; /**< Previous type of current target triplet. */ bool _highEnoughForLandingGear(); /**< Checks if gears can be lowered. */ - }; diff --git a/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.cpp b/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.cpp index 7d0c9fe444..943b613dba 100644 --- a/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.cpp +++ b/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.cpp @@ -155,7 +155,7 @@ void ObstacleAvoidance::checkAvoidanceProgress(const Vector3f &pos, const Vector // vector from previous triplet to current target Vector2f prev_to_target = Vector2f(_curr_wp - prev_wp); // vector from previous triplet to the vehicle projected position on the line previous-target triplet - Vector2f prev_to_closest_pt = closest_pt - Vector2f(prev_wp); prev_to_closest_pt.print(); + Vector2f prev_to_closest_pt = closest_pt - Vector2f(prev_wp); // fraction of the previous-tagerget line that has been flown const float prev_curr_travelled = prev_to_closest_pt.length() / prev_to_target.length();