From 70f32f463168802956928cb52e3e619e152fb378 Mon Sep 17 00:00:00 2001 From: DrinkingHook Date: Thu, 20 Nov 2025 12:03:04 +0800 Subject: [PATCH] Clean up duplicate assignments in flight_mode_manager-task-auto --- .../flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp | 5 +---- 1 file changed, 1 insertion(+), 4 deletions(-) diff --git a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp index 3a77075f11..e2ebb11bd0 100644 --- a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp +++ b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp @@ -44,15 +44,12 @@ bool FlightTaskAuto::activate(const trajectory_setpoint_s &last_setpoint) { bool ret = FlightTask::activate(last_setpoint); + // Set setpoints equal current state. _position_setpoint = _position; _velocity_setpoint = _velocity; _yaw_setpoint = _yaw; _yawspeed_setpoint = 0.0f; - // Set setpoints equal current state. - _velocity_setpoint = _velocity; - _position_setpoint = _position; - Vector3f vel_prev{last_setpoint.velocity}; Vector3f pos_prev{last_setpoint.position}; Vector3f accel_prev{last_setpoint.acceleration};