From a1ff4a8a671c77710bb599a186125ad6996acd5e Mon Sep 17 00:00:00 2001 From: Jake Dahl Date: Wed, 25 Jul 2018 14:52:12 -0600 Subject: [PATCH] removed unneccessary includes, eliminated namespace on math, changed date changed a comment reverted a file back to master --- src/modules/navigator/mission_block.cpp | 2 +- src/modules/navigator/rtl.cpp | 19 ++++++------------- 2 files changed, 7 insertions(+), 14 deletions(-) diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp index 3e876426a5..4d4feb0c36 100644 --- a/src/modules/navigator/mission_block.cpp +++ b/src/modules/navigator/mission_block.cpp @@ -520,7 +520,7 @@ MissionBlock::mission_item_to_position_setpoint(const mission_item_s &item, posi // if already flying (armed and !landed) treat TAKEOFF like regular POSITION if ((_navigator->get_vstatus()->arming_state == vehicle_status_s::ARMING_STATE_ARMED) - && !_navigator->get_land_detected()->landed && !_navigator->get_land_detected()->maybe_landed) { + && !_navigator->get_land_detected()->landed) { sp->type = position_setpoint_s::SETPOINT_TYPE_POSITION; diff --git a/src/modules/navigator/rtl.cpp b/src/modules/navigator/rtl.cpp index 58c6472c3b..663d40b807 100644 --- a/src/modules/navigator/rtl.cpp +++ b/src/modules/navigator/rtl.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2013-2017 PX4 Development Team. All rights reserved. + * Copyright (c) 2013-2018 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -40,13 +40,6 @@ #include "rtl.h" #include "navigator.h" -#include - -#include -#include - -using math::max; -using math::min; static constexpr float DELAY_SIGMA = 0.01f; @@ -73,11 +66,11 @@ void RTL::on_activation() { if (_navigator->get_land_detected()->landed) { - // For safety reasons don't go into RTL if landed or currently in landing. + // For safety reasons don't go into RTL if landed. _rtl_state = RTL_STATE_LANDED; } else if (_navigator->get_position_setpoint_triplet()->current.type == position_setpoint_s::SETPOINT_TYPE_LAND) { - // Do not go into full RTL if already performing a land. + // Skip straight to land if already performing a land. _rtl_state = RTL_STATE_LAND; } else if ((rtl_type() == RTL_LAND) && _navigator->on_mission_landing()) { @@ -143,7 +136,7 @@ RTL::set_rtl_item() const float home_dist = get_distance_to_next_waypoint(home.lat, home.lon, gpos.lat, gpos.lon); // Compute the return altitude. - float return_alt = max(home.alt + _param_return_alt.get(), gpos.alt); + float return_alt = math::max(home.alt + _param_return_alt.get(), gpos.alt); // We are close to home, limit climb to min. if (home_dist < _param_rtl_min_dist.get()) { @@ -151,7 +144,7 @@ RTL::set_rtl_item() } // Compute the loiter altitude. - const float loiter_altitude = min(home.alt + _param_descend_alt.get(), gpos.alt); + const float loiter_altitude = math::min(home.alt + _param_descend_alt.get(), gpos.alt); switch (_rtl_state) { case RTL_STATE_CLIMB: { @@ -248,7 +241,7 @@ RTL::set_rtl_item() _mission_item.yaw = home.yaw; _mission_item.loiter_radius = _navigator->get_loiter_radius(); _mission_item.acceptance_radius = _navigator->get_acceptance_radius(); - _mission_item.time_inside = max(_param_land_delay.get(), 0.0f); + _mission_item.time_inside = math::max(_param_land_delay.get(), 0.0f); _mission_item.autocontinue = autoland; _mission_item.origin = ORIGIN_ONBOARD;