From 78fd9a15f8ce93acaef690d89865c903423f669d Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Wed, 26 Jun 2024 17:28:39 -0400
Subject: [PATCH] flight_mode_manager: delete unused avoidance waypoint

---
 .../tasks/FlightTask/FlightTask.hpp                 | 13 -------------
 1 file changed, 13 deletions(-)

diff --git a/src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.hpp b/src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.hpp
index 3b9ddbd466..7e938bb0a9 100644
--- a/src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.hpp
+++ b/src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.hpp
@@ -52,7 +52,6 @@
 #include <uORB/topics/vehicle_command.h>
 #include <uORB/topics/vehicle_constraints.h>
 #include <uORB/topics/vehicle_attitude.h>
-#include <uORB/topics/vehicle_trajectory_waypoint.h>
 #include <uORB/topics/home_position.h>
 #include <lib/geo/geo.h>
 
@@ -132,12 +131,6 @@ public:
 	 */
 	const landing_gear_s &getGear() { return _gear; }
 
-	/**
-	 * Get avoidance desired waypoint
-	 * @return desired waypoints
-	 */
-	const vehicle_trajectory_waypoint_s &getAvoidanceWaypoint() { return _desired_waypoint; }
-
 	/**
 	 * All setpoints are set to NAN (uncontrolled), timestamp to zero
 	 */
@@ -251,12 +244,6 @@ protected:
 
 	landing_gear_s _gear{};
 
-	/**
-	 * Desired waypoints.
-	 * Goals set by the FCU to be sent to the obstacle avoidance system.
-	 */
-	vehicle_trajectory_waypoint_s _desired_waypoint{};
-
 	DEFINE_PARAMETERS_CUSTOM_PARENT(ModuleParams,
 					(ParamFloat<px4::params::MPC_XY_VEL_MAX>) _param_mpc_xy_vel_max,
 					(ParamFloat<px4::params::MPC_Z_VEL_MAX_DN>) _param_mpc_z_vel_max_dn,