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vehicle_constraints: remove deprecated speed_xy constraint

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This commit is contained in:
Matthias Grob
2021-11-09 21:47:06 -05:00
committed by Daniel Agar
parent 356de6ccf1
commit 7ec8dd9d23
9 changed files with 11 additions and 36 deletions
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src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
+1 -11
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@@ -160,7 +160,7 @@ bool FlightTaskAuto::_evaluateTriplets()
if (!PX4_ISFINITE(_mc_cruise_speed) || (_mc_cruise_speed < 0.0f)) {
// If no speed is planned use the default cruise speed as limit
_mc_cruise_speed = _constraints.speed_xy;
_mc_cruise_speed = _param_mpc_xy_cruise.get();
}
// Ensure planned cruise speed is below the maximum such that the smooth trajectory doesn't get capped
@@ -412,16 +412,6 @@ bool FlightTaskAuto::_evaluateGlobalReference()
return PX4_ISFINITE(_reference_altitude) && PX4_ISFINITE(ref_lat) && PX4_ISFINITE(ref_lon);
}
void FlightTaskAuto::_setDefaultConstraints()
{
FlightTask::_setDefaultConstraints();
// only adjust limits if the new limit is lower
if (_constraints.speed_xy >= _param_mpc_xy_cruise.get()) {
_constraints.speed_xy = _param_mpc_xy_cruise.get();
}
}
Vector2f FlightTaskAuto::_getTargetVelocityXY()
{
// guard against any bad velocity values