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GeofenceBreachAvoidance: remove unused variables and methods

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-11-22 21:45:02 -05:00
committed by Daniel Agar
parent c0f26c8fbd
commit b178c943a6
3 changed files with 3 additions and 9 deletions
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src/modules/navigator/GeofenceBreachAvoidance/geofence_breach_avoidance.cpp
+1 -2
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@@ -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 * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions * 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(0) = lat;
_home_lat_lon(1) = lon; _home_lat_lon(1) = lon;
_home_alt_amsl = alt;
} }
matrix::Vector2<double> GeofenceBreachAvoidance::waypointFromBearingAndDistance(matrix::Vector2<double> matrix::Vector2<double> GeofenceBreachAvoidance::waypointFromBearingAndDistance(matrix::Vector2<double>
src/modules/navigator/GeofenceBreachAvoidance/geofence_breach_avoidance.h
+2 -6
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@@ -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 * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions * modification, are permitted provided that the following conditions
@@ -39,7 +39,7 @@
class Geofence; class Geofence;
#define GEOFENCE_CHECK_INTERVAL_US 200000 #define GEOFENCE_CHECK_INTERVAL_US 200000 // 0.2s
union geofence_violation_type_u { union geofence_violation_type_u {
struct { struct {
@@ -95,8 +95,6 @@ public:
void setMaxHorDistHome(float dist) { _max_hor_dist_home = dist; } void setMaxHorDistHome(float dist) { _max_hor_dist_home = dist; }
void setMaxVerDistHome(float dist) { _max_ver_dist_home = dist; }
void updateParameters(); void updateParameters();
private: private:
@@ -134,10 +132,8 @@ private:
matrix::Vector2<double> _current_pos_lat_lon{}; matrix::Vector2<double> _current_pos_lat_lon{};
matrix::Vector2<double> _home_lat_lon {}; matrix::Vector2<double> _home_lat_lon {};
float _home_alt_amsl{0.0f};
float _max_hor_dist_home{0.0f}; float _max_hor_dist_home{0.0f};
float _max_ver_dist_home{0.0f};
void updateMinHorDistToFenceMultirotor(); void updateMinHorDistToFenceMultirotor();
src/modules/navigator/navigator_main.cpp
-1
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@@ -966,7 +966,6 @@ void Navigator::geofence_breach_check(bool &have_geofence_position_data)
_gf_breach_avoidance.setTestPointBearing(test_point_bearing); _gf_breach_avoidance.setTestPointBearing(test_point_bearing);
_gf_breach_avoidance.setCurrentPosition(_global_pos.lat, _global_pos.lon, _global_pos.alt); _gf_breach_avoidance.setCurrentPosition(_global_pos.lat, _global_pos.lon, _global_pos.alt);
_gf_breach_avoidance.setMaxHorDistHome(_geofence.getMaxHorDistanceHome()); _gf_breach_avoidance.setMaxHorDistHome(_geofence.getMaxHorDistanceHome());
_gf_breach_avoidance.setMaxVerDistHome(_geofence.getMaxVerDistanceHome());
if (home_global_position_valid()) { if (home_global_position_valid()) {
_gf_breach_avoidance.setHomePosition(_home_pos.lat, _home_pos.lon, _home_pos.alt); _gf_breach_avoidance.setHomePosition(_home_pos.lat, _home_pos.lon, _home_pos.alt);