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FlightTaskAuto: remove unused _getTargetVelocityXY()

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Inclusive velocity_valid field in position_setpoint message that's then
no longer needed.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-10-17 16:50:53 +02:00
committed by Daniel Agar
parent 42c613a0c7
commit 5ea8c6e507
5 changed files with 0 additions and 22 deletions
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src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
-17
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@@ -599,23 +599,6 @@ bool FlightTaskAuto::_evaluateGlobalReference()
return PX4_ISFINITE(_reference_altitude) && PX4_ISFINITE(ref_lat) && PX4_ISFINITE(ref_lon);
}
Vector2f FlightTaskAuto::_getTargetVelocityXY()
{
// guard against any bad velocity values
const float vx = _sub_triplet_setpoint.get().current.vx;
const float vy = _sub_triplet_setpoint.get().current.vy;
bool velocity_valid = PX4_ISFINITE(vx) && PX4_ISFINITE(vy) &&
_sub_triplet_setpoint.get().current.velocity_valid;
if (velocity_valid) {
return Vector2f(vx, vy);
} else {
// just return zero speed
return Vector2f{};
}
}
State FlightTaskAuto::_getCurrentState()
{
// Calculate the vehicle current state based on the Navigator triplets and the current position.