From 5edbc2f80a0b24082711e0d5095cebd3e3860253 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Wed, 26 Oct 2022 14:05:53 +0200 Subject: [PATCH] Navigator: remove update of reposition setpoint at Transition command This was previously required to reset the flight speed after a VTOL transition, but is now no longer required as the DO_CHANGE_SPEED commands are handles directly in the controllers. Signed-off-by: Silvan Fuhrer --- src/modules/navigator/navigator_main.cpp | 6 ------ 1 file changed, 6 deletions(-) diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index fa5ac3bfde..3a561083cf 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -559,12 +559,6 @@ void Navigator::run() // reset cruise speed and throttle to default when transitioning (VTOL Takeoff handles it separately) reset_cruising_speed(); set_cruising_throttle(); - - // need to update current setpooint with reset cruise speed and throttle - position_setpoint_triplet_s *rep = get_reposition_triplet(); - *rep = *(get_position_setpoint_triplet()); - rep->current.cruising_speed = get_cruising_speed(); - rep->current.cruising_throttle = get_cruising_throttle(); } }