From b178c943a6b85cb35989e598b218aba5e84bb3fd Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Thu, 16 Nov 2023 14:00:15 +0100 Subject: [PATCH] GeofenceBreachAvoidance: remove unused variables and methods Signed-off-by: Silvan Fuhrer --- .../GeofenceBreachAvoidance/geofence_breach_avoidance.cpp | 3 +-- .../GeofenceBreachAvoidance/geofence_breach_avoidance.h | 8 ++------ src/modules/navigator/navigator_main.cpp | 1 - 3 files changed, 3 insertions(+), 9 deletions(-) diff --git a/src/modules/navigator/GeofenceBreachAvoidance/geofence_breach_avoidance.cpp b/src/modules/navigator/GeofenceBreachAvoidance/geofence_breach_avoidance.cpp index 802dacaaf6..b8ee1f2435 100644 --- a/src/modules/navigator/GeofenceBreachAvoidance/geofence_breach_avoidance.cpp +++ b/src/modules/navigator/GeofenceBreachAvoidance/geofence_breach_avoidance.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. + * Copyright (c) 2020-2023 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 @@ -75,7 +75,6 @@ void GeofenceBreachAvoidance::setHomePosition(double lat, double lon, float alt) { _home_lat_lon(0) = lat; _home_lat_lon(1) = lon; - _home_alt_amsl = alt; } matrix::Vector2 GeofenceBreachAvoidance::waypointFromBearingAndDistance(matrix::Vector2 diff --git a/src/modules/navigator/GeofenceBreachAvoidance/geofence_breach_avoidance.h b/src/modules/navigator/GeofenceBreachAvoidance/geofence_breach_avoidance.h index 1a6c63ea20..86c2088aec 100644 --- a/src/modules/navigator/GeofenceBreachAvoidance/geofence_breach_avoidance.h +++ b/src/modules/navigator/GeofenceBreachAvoidance/geofence_breach_avoidance.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. + * Copyright (c) 2020-2023 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 @@ -39,7 +39,7 @@ class Geofence; -#define GEOFENCE_CHECK_INTERVAL_US 200000 +#define GEOFENCE_CHECK_INTERVAL_US 200000 // 0.2s union geofence_violation_type_u { struct { @@ -95,8 +95,6 @@ public: void setMaxHorDistHome(float dist) { _max_hor_dist_home = dist; } - void setMaxVerDistHome(float dist) { _max_ver_dist_home = dist; } - void updateParameters(); private: @@ -134,10 +132,8 @@ private: matrix::Vector2 _current_pos_lat_lon{}; matrix::Vector2 _home_lat_lon {}; - float _home_alt_amsl{0.0f}; float _max_hor_dist_home{0.0f}; - float _max_ver_dist_home{0.0f}; void updateMinHorDistToFenceMultirotor(); diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index d2609a3821..a96e4791ed 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -966,7 +966,6 @@ void Navigator::geofence_breach_check(bool &have_geofence_position_data) _gf_breach_avoidance.setTestPointBearing(test_point_bearing); _gf_breach_avoidance.setCurrentPosition(_global_pos.lat, _global_pos.lon, _global_pos.alt); _gf_breach_avoidance.setMaxHorDistHome(_geofence.getMaxHorDistanceHome()); - _gf_breach_avoidance.setMaxVerDistHome(_geofence.getMaxVerDistanceHome()); if (home_global_position_valid()) { _gf_breach_avoidance.setHomePosition(_home_pos.lat, _home_pos.lon, _home_pos.alt);