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FlightTask StraightLine: remove unused target reached flag

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This commit is contained in:
ChristophTobler 2018-07-23 16:34:09 +02:00 committed by Lorenz Meier
parent 090db6a115
commit 8998714130
2 changed files with 2 additions and 6 deletions
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6
src/lib/FlightTasks/tasks/Utility/StraightLine.cpp
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@ -54,12 +54,11 @@ StraightLine::StraightLine(ModuleParams *parent, const float &deltatime, const m
void StraightLine::generateSetpoints(matrix::Vector3f &position_setpoint, matrix::Vector3f &velocity_setpoint)
{
// Check if target position has been reached
if (_is_target_reached || (_desired_speed_at_target < VEL_ZERO_THRESHOLD &&
(_pos - _target).length() < NAV_ACC_RAD.get())) {
if (_desired_speed_at_target < VEL_ZERO_THRESHOLD &&
(_pos - _target).length() < NAV_ACC_RAD.get()) {
// Vehicle has reached target. Lock position
position_setpoint = _target;
velocity_setpoint = Vector3f(0.0f, 0.0f, 0.0f);
_is_target_reached = true;
return;
}
@ -171,7 +170,6 @@ void StraightLine::setTarget(const matrix::Vector3f &target)
{
if (PX4_ISFINITE(target(0)) && PX4_ISFINITE(target(1)) && PX4_ISFINITE(target(2))) {
_target = target;
_is_target_reached = false;
// set all parameters to their default value (depends on the direction)
setAllDefaults();

2
src/lib/FlightTasks/tasks/Utility/StraightLine.hpp
View File

@ -92,8 +92,6 @@ private:
float _desired_speed{0.0f}; /**< desired maximum velocity */
float _desired_speed_at_target{0.0f}; /**< desired velocity at target point */
bool _is_target_reached{false};
matrix::Vector3f _target{}; /**< End point of the straight line */
matrix::Vector3f _origin{}; /**< Start point of the straight line */