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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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src/lib/FlightTasks/tasks/Utility/StraightLine.cpp
+2 -4
View File
@@ -54,12 +54,11 @@ StraightLine::StraightLine(ModuleParams *parent, const float &deltatime, const m
void StraightLine::generateSetpoints(matrix::Vector3f &position_setpoint, matrix::Vector3f &velocity_setpoint) void StraightLine::generateSetpoints(matrix::Vector3f &position_setpoint, matrix::Vector3f &velocity_setpoint)
{ {
// Check if target position has been reached // Check if target position has been reached
if (_is_target_reached || (_desired_speed_at_target < VEL_ZERO_THRESHOLD && if (_desired_speed_at_target < VEL_ZERO_THRESHOLD &&
(_pos - _target).length() < NAV_ACC_RAD.get())) { (_pos - _target).length() < NAV_ACC_RAD.get()) {
// Vehicle has reached target. Lock position // Vehicle has reached target. Lock position
position_setpoint = _target; position_setpoint = _target;
velocity_setpoint = Vector3f(0.0f, 0.0f, 0.0f); velocity_setpoint = Vector3f(0.0f, 0.0f, 0.0f);
_is_target_reached = true;
return; 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))) { if (PX4_ISFINITE(target(0)) && PX4_ISFINITE(target(1)) && PX4_ISFINITE(target(2))) {
_target = target; _target = target;
_is_target_reached = false;
// set all parameters to their default value (depends on the direction) // set all parameters to their default value (depends on the direction)
setAllDefaults(); setAllDefaults();
src/lib/FlightTasks/tasks/Utility/StraightLine.hpp
-2
View File
@@ -92,8 +92,6 @@ private:
float _desired_speed{0.0f}; /**< desired maximum velocity */ float _desired_speed{0.0f}; /**< desired maximum velocity */
float _desired_speed_at_target{0.0f}; /**< desired velocity at target point */ 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 _target{}; /**< End point of the straight line */
matrix::Vector3f _origin{}; /**< Start point of the straight line */ matrix::Vector3f _origin{}; /**< Start point of the straight line */