From 8ecb55033106d48bab8b0e2f57742b5863f16bd1 Mon Sep 17 00:00:00 2001 From: RomanBapst Date: Mon, 16 Jan 2023 13:18:36 +0300 Subject: [PATCH] cleanup Signed-off-by: RomanBapst --- .../navigator/MissionFeasibility/FeasibilityChecker.hpp | 1 - src/modules/navigator/mission.cpp | 4 +--- src/modules/navigator/mission_feasibility_checker.cpp | 3 +-- src/modules/navigator/mission_feasibility_checker.h | 6 +----- 4 files changed, 3 insertions(+), 11 deletions(-) diff --git a/src/modules/navigator/MissionFeasibility/FeasibilityChecker.hpp b/src/modules/navigator/MissionFeasibility/FeasibilityChecker.hpp index d7e0403859..6ac654e4a3 100644 --- a/src/modules/navigator/MissionFeasibility/FeasibilityChecker.hpp +++ b/src/modules/navigator/MissionFeasibility/FeasibilityChecker.hpp @@ -92,7 +92,6 @@ private: bool _is_landed{false}; float _home_alt_msl{NAN}; matrix::Vector2d _home_lat_lon = matrix::Vector2d((double)NAN, (double)NAN); - bool _is_vtol{false}; VehicleType _vehicle_type{VehicleType::RotaryWing}; // internal flags to keep track of which checks failed diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp index 1442fe1f72..e4836828e8 100644 --- a/src/modules/navigator/mission.cpp +++ b/src/modules/navigator/mission.cpp @@ -1747,9 +1747,7 @@ Mission::check_mission_valid(bool force) MissionFeasibilityChecker _missionFeasibilityChecker(_navigator); _navigator->get_mission_result()->valid = - _missionFeasibilityChecker.checkMissionFeasible(_mission, - _param_mis_dist_1wp.get(), - _param_mis_dist_wps.get()); + _missionFeasibilityChecker.checkMissionFeasible(_mission); _navigator->get_mission_result()->seq_total = _mission.count; _navigator->increment_mission_instance_count(); diff --git a/src/modules/navigator/mission_feasibility_checker.cpp b/src/modules/navigator/mission_feasibility_checker.cpp index 013d331a0b..459ac1fdc0 100644 --- a/src/modules/navigator/mission_feasibility_checker.cpp +++ b/src/modules/navigator/mission_feasibility_checker.cpp @@ -54,8 +54,7 @@ #include bool -MissionFeasibilityChecker::checkMissionFeasible(const mission_s &mission, - float max_distance_to_1st_waypoint, float max_distance_between_waypoints) +MissionFeasibilityChecker::checkMissionFeasible(const mission_s &mission) { // Reset warning flag _navigator->get_mission_result()->warning = false; diff --git a/src/modules/navigator/mission_feasibility_checker.h b/src/modules/navigator/mission_feasibility_checker.h index 90b87952fa..902d803eda 100644 --- a/src/modules/navigator/mission_feasibility_checker.h +++ b/src/modules/navigator/mission_feasibility_checker.h @@ -56,9 +56,6 @@ private: Navigator *_navigator{nullptr}; FeasibilityChecker _feasibility_checker; - bool _has_takeoff{false}; - bool _has_landing{false}; - bool checkGeofence(const mission_s &mission, float home_alt, bool home_valid); public: @@ -77,6 +74,5 @@ public: /* * Returns true if mission is feasible and false otherwise */ - bool checkMissionFeasible(const mission_s &mission, - float max_distance_to_1st_waypoint, float max_distance_between_waypoints); + bool checkMissionFeasible(const mission_s &mission); };