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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 2024-12-26 21:44:30 +01:00 committed by Silvan Fuhrer
parent 1f2dba68d2
commit b34a5eb6f7
4 changed files with 0 additions and 19 deletions
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2
msg/PositionControllerStatus.msg
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@ -7,6 +7,4 @@ float32 target_bearing # Bearing angle from aircraft to current target [rad]
float32 xtrack_error # Signed track error [m] float32 xtrack_error # Signed track error [m]
float32 wp_dist # Distance to active (next) waypoint [m] float32 wp_dist # Distance to active (next) waypoint [m]
float32 acceptance_radius # Current horizontal acceptance radius [m] float32 acceptance_radius # Current horizontal acceptance radius [m]
float32 yaw_acceptance # Yaw acceptance error[rad]
float32 altitude_acceptance # Current vertical acceptance error [m]
uint8 type # Current (applied) position setpoint type (see PositionSetpoint.msg) uint8 type # Current (applied) position setpoint type (see PositionSetpoint.msg)

2
src/modules/fw_pos_control/FixedwingPositionControl.cpp
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@ -487,8 +487,6 @@ FixedwingPositionControl::status_publish()
pos_ctrl_status.wp_dist = get_distance_to_next_waypoint(_current_latitude, _current_longitude, pos_ctrl_status.wp_dist = get_distance_to_next_waypoint(_current_latitude, _current_longitude,
_pos_sp_triplet.current.lat, _pos_sp_triplet.current.lon); _pos_sp_triplet.current.lat, _pos_sp_triplet.current.lon);
pos_ctrl_status.yaw_acceptance = NAN;
pos_ctrl_status.timestamp = hrt_absolute_time(); pos_ctrl_status.timestamp = hrt_absolute_time();
pos_ctrl_status.type = _position_sp_type; pos_ctrl_status.type = _position_sp_type;

14
src/modules/navigator/navigator_main.cpp
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@ -1142,17 +1142,11 @@ float Navigator::get_altitude_acceptance_radius()
} else { } else {
float alt_acceptance_radius = _param_nav_mc_alt_rad.get(); 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; 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) { if (PX4_ISFINITE(curr_sp.alt_acceptance_radius) && curr_sp.alt_acceptance_radius > FLT_EPSILON) {
alt_acceptance_radius = curr_sp.alt_acceptance_radius; 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; return alt_acceptance_radius;
@ -1214,14 +1208,6 @@ bool Navigator::get_yaw_to_be_accepted(float mission_item_yaw)
{ {
float yaw = 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); return PX4_ISFINITE(yaw);
} }

1
src/modules/rover_pos_control/RoverPositionControl.cpp
View File

@ -441,7 +441,6 @@ RoverPositionControl::Run()
_pos_sp_triplet.current.lat, _pos_sp_triplet.current.lon); _pos_sp_triplet.current.lat, _pos_sp_triplet.current.lon);
pos_ctrl_status.acceptance_radius = turn_distance; pos_ctrl_status.acceptance_radius = turn_distance;
pos_ctrl_status.yaw_acceptance = NAN;
pos_ctrl_status.timestamp = hrt_absolute_time(); pos_ctrl_status.timestamp = hrt_absolute_time();