From 83e51ad1921d9ce61d307f311f1cf536ca8517c5 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Sat, 7 Dec 2019 18:07:38 +0100 Subject: [PATCH] PositionControl: remove speed_xy constraint since it's anyways unused --- .../mc_pos_control/PositionControl/PositionControl.cpp | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/src/modules/mc_pos_control/PositionControl/PositionControl.cpp b/src/modules/mc_pos_control/PositionControl/PositionControl.cpp index 7951e49f81..293410702d 100644 --- a/src/modules/mc_pos_control/PositionControl/PositionControl.cpp +++ b/src/modules/mc_pos_control/PositionControl/PositionControl.cpp @@ -117,9 +117,7 @@ void PositionControl::setConstraints(const vehicle_constraints_s &constraints) _constraints.speed_down = _lim_vel_down; } - if (!PX4_ISFINITE(constraints.speed_xy) || !(constraints.speed_xy < _lim_vel_horizontal)) { - _constraints.speed_xy = _lim_vel_horizontal; - } + // ignore _constraints.speed_xy TODO: remove it completely as soon as no task uses it anymore to avoid confusion } void PositionControl::update(const float dt)