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PositionControllerStatus: remove unused fields

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Remove yaw_acceptance and altitude_acceptance_radius fields as they were only
filled by now removed avoidance controller.

Signed-off-by: Silvan <silvan@auterion.com>
This commit is contained in:
Silvan
2025-02-18 14:33:16 +01:00
committed by Silvan Fuhrer
parent 1f2dba68d2
commit b34a5eb6f7
4 changed files with 0 additions and 19 deletions
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src/modules/navigator/navigator_main.cpp
-14
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@@ -1142,17 +1142,11 @@ float Navigator::get_altitude_acceptance_radius()
} else {
float alt_acceptance_radius = _param_nav_mc_alt_rad.get();
const position_controller_status_s &pos_ctrl_status = _position_controller_status_sub.get();
const position_setpoint_s &curr_sp = get_position_setpoint_triplet()->current;
if (PX4_ISFINITE(curr_sp.alt_acceptance_radius) && curr_sp.alt_acceptance_radius > FLT_EPSILON) {
alt_acceptance_radius = curr_sp.alt_acceptance_radius;
} else if ((pos_ctrl_status.timestamp > _pos_sp_triplet.timestamp)
&& pos_ctrl_status.altitude_acceptance > alt_acceptance_radius) {
alt_acceptance_radius = pos_ctrl_status.altitude_acceptance;
}
return alt_acceptance_radius;
@@ -1214,14 +1208,6 @@ bool Navigator::get_yaw_to_be_accepted(float mission_item_yaw)
{
float yaw = mission_item_yaw;
const position_controller_status_s &pos_ctrl_status = _position_controller_status_sub.get();
// if yaw_acceptance from position controller is NaN overwrite the mission item yaw such that
// the waypoint can be reached from any direction
if ((pos_ctrl_status.timestamp > _pos_sp_triplet.timestamp) && !PX4_ISFINITE(pos_ctrl_status.yaw_acceptance)) {
yaw = pos_ctrl_status.yaw_acceptance;
}
return PX4_ISFINITE(yaw);
}