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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/FlightTask/FlightTask.cpp
+1 -2
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@@ -6,7 +6,7 @@ constexpr uint64_t FlightTask::_timeout;
// First index of empty_setpoint corresponds to time-stamp and requires a finite number.
const vehicle_local_position_setpoint_s FlightTask::empty_setpoint = {0, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {}};
const vehicle_constraints_s FlightTask::empty_constraints = {0, NAN, NAN, NAN, false, {}};
const vehicle_constraints_s FlightTask::empty_constraints = {0, NAN, NAN, false, {}};
const landing_gear_s FlightTask::empty_landing_gear_default_keep = {0, landing_gear_s::GEAR_KEEP, {}};
bool FlightTask::activate(const vehicle_local_position_setpoint_s &last_setpoint)
@@ -201,7 +201,6 @@ void FlightTask::_evaluateDistanceToGround()
void FlightTask::_setDefaultConstraints()
{
_constraints.speed_xy = _param_mpc_xy_vel_max.get();
_constraints.speed_up = _param_mpc_z_vel_max_up.get();
_constraints.speed_down = _param_mpc_z_vel_max_dn.get();
_constraints.want_takeoff = false;