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remove partial CMD_OVERRIDE_GOTO implementation (#7356)

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- closes #7326
This commit is contained in:
Daniel Agar
2017-06-08 22:03:50 -04:00
committed by GitHub
parent 3b7e57a5b2
commit 8d5c955af4
2 changed files with 0 additions and 33 deletions
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src/modules/commander/commander.cpp
-32
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@@ -945,38 +945,6 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
}
break;
case vehicle_command_s::VEHICLE_CMD_OVERRIDE_GOTO: {
// TODO listen vehicle_command topic directly from navigator (?)
// Increase by 0.5f and rely on the integer cast
// implicit floor(). This is the *safest* way to
// convert from floats representing small ints to actual ints.
unsigned int mav_goto = (cmd->param1 + 0.5f);
if (mav_goto == 0) { // MAV_GOTO_DO_HOLD
status_local->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER;
mavlink_log_critical(&mavlink_log_pub, "Pause mission cmd");
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else if (mav_goto == 1) { // MAV_GOTO_DO_CONTINUE
status_local->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION;
mavlink_log_critical(&mavlink_log_pub, "Continue mission cmd");
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else {
mavlink_log_critical(&mavlink_log_pub, "REJ CMD: %.1f %.1f %.1f %.1f %.1f %.1f %.1f",
(double)cmd->param1,
(double)cmd->param2,
(double)cmd->param3,
(double)cmd->param4,
(double)cmd->param5,
(double)cmd->param6,
(double)cmd->param7);
}
}
break;
/* Flight termination */
case vehicle_command_s::VEHICLE_CMD_DO_FLIGHTTERMINATION: {
if (cmd->param1 > 1.5f) {
armed_local->lockdown = true;