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Navigator: VTOL: remove generate_waypoint_from_heading()

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The FW Position controller sets the wp to be tracked during a
VTOL front transition, the coordinates sp set here weren't used.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2021-11-26 11:21:16 +01:00
committed by Roman Bapst
parent 10ceea2fe6
commit ba1526896d
2 changed files with 6 additions and 21 deletions
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src/modules/navigator/mission.cpp
+6 -16
View File
@@ -339,7 +339,8 @@ Mission::set_execution_mode(const uint8_t mode)
position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
pos_sp_triplet->previous = pos_sp_triplet->current;
generate_waypoint_from_heading(&pos_sp_triplet->current, _mission_item.yaw);
// keep current setpoints (FW position controller generates wp to track during transition)
pos_sp_triplet->current.type = position_setpoint_s::SETPOINT_TYPE_POSITION;
publish_navigator_mission_item(); // for logging
_navigator->set_position_setpoint_triplet_updated();
issue_command(_mission_item);
@@ -863,8 +864,8 @@ Mission::set_mission_items()
set_vtol_transition_item(&_mission_item, vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW);
_mission_item.yaw = _navigator->get_local_position()->heading;
/* set position setpoint to target during the transition */
generate_waypoint_from_heading(&pos_sp_triplet->current, _mission_item.yaw);
// keep current setpoints (FW position controller generates wp to track during transition)
pos_sp_triplet->current.type = position_setpoint_s::SETPOINT_TYPE_POSITION;
}
/* takeoff completed and transitioned, move to takeoff wp as fixed wing */
@@ -1069,9 +1070,9 @@ Mission::set_mission_items()
/* re-enable weather vane again after alignment */
pos_sp_triplet->current.disable_weather_vane = false;
/* set position setpoint to target during the transition */
pos_sp_triplet->previous = pos_sp_triplet->current;
generate_waypoint_from_heading(&pos_sp_triplet->current, pos_sp_triplet->current.yaw);
// keep current setpoints (FW position controller generates wp to track during transition)
pos_sp_triplet->current.type = position_setpoint_s::SETPOINT_TYPE_POSITION;
}
// ignore certain commands in mission fast forward
@@ -1801,17 +1802,6 @@ Mission::need_to_reset_mission()
return false;
}
void
Mission::generate_waypoint_from_heading(struct position_setpoint_s *setpoint, float yaw)
{
waypoint_from_heading_and_distance(
_navigator->get_global_position()->lat, _navigator->get_global_position()->lon,
yaw, 1000000.0f,
&(setpoint->lat), &(setpoint->lon));
setpoint->type = position_setpoint_s::SETPOINT_TYPE_POSITION;
setpoint->yaw = yaw;
}
int32_t
Mission::index_closest_mission_item() const
{
src/modules/navigator/mission.h
-5
View File
@@ -218,11 +218,6 @@ private:
*/
bool need_to_reset_mission();
/**
* Project current location with heading to far away location and fill setpoint.
*/
void generate_waypoint_from_heading(struct position_setpoint_s *setpoint, float yaw);
/**
* Find and store the index of the landing sequence (DO_LAND_START)
*/