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Remove LNDMC_ALT_MAX

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This should be replaced with the maximum geofence
altitude GF_MAX_VER_DIST. I'm not aware anyone is using
this functionality as is.
This commit is contained in:
Matthias Grob
2023-11-20 14:52:35 +01:00
parent fd4d635035
commit 9bed8f48c7
16 changed files with 0 additions and 97 deletions
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src/modules/flight_mode_manager/FlightModeManager.cpp
-23
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@@ -103,7 +103,6 @@ void FlightModeManager::Run()
const float dt = math::constrain(((time_stamp_now - _time_stamp_last_loop) / 1e6f), 0.0002f, 0.1f);
_time_stamp_last_loop = time_stamp_now;
_home_position_sub.update();
_vehicle_control_mode_sub.update();
_vehicle_land_detected_sub.update();
_vehicle_status_sub.update();
@@ -330,9 +329,6 @@ void FlightModeManager::generateTrajectorySetpoint(const float dt,
constraints = _current_task.task->getConstraints();
}
// limit altitude according to land detector
limitAltitude(setpoint, vehicle_local_position);
if (_takeoff_status_sub.updated()) {
takeoff_status_s takeoff_status;
@@ -366,25 +362,6 @@ void FlightModeManager::generateTrajectorySetpoint(const float dt,
_old_landing_gear_position = landing_gear.landing_gear;
}
void FlightModeManager::limitAltitude(trajectory_setpoint_s &setpoint,
const vehicle_local_position_s &vehicle_local_position)
{
if (_param_lndmc_alt_max.get() < 0.0f || !_home_position_sub.get().valid_alt
|| !vehicle_local_position.z_valid || !vehicle_local_position.v_z_valid) {
// there is no altitude limitation present or the required information not available
return;
}
// maximum altitude == minimal z-value (NED)
const float min_z = _home_position_sub.get().z + (-_param_lndmc_alt_max.get());
if (vehicle_local_position.z < min_z) {
// above maximum altitude, only allow downwards flight == positive vz-setpoints (NED)
setpoint.position[2] = min_z;
setpoint.velocity[2] = math::max(setpoint.velocity[2], 0.f);
}
}
FlightTaskError FlightModeManager::switchTask(FlightTaskIndex new_task_index)
{
// switch to the running task, nothing to do