From c20e5e3a0002e4e9e3e2ea8927fef3e6a6fa13c7 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Wed, 4 Aug 2021 18:28:36 +0200 Subject: [PATCH] FlightTaskManualAltitudeSmoothVel: remove separate reactivate handling It was added before the activation was able to work with the previous setpoint. --- .../FlightTaskManualAltitudeSmoothVel.cpp | 8 -------- .../FlightTaskManualAltitudeSmoothVel.hpp | 1 - 2 files changed, 9 deletions(-) diff --git a/src/modules/flight_mode_manager/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.cpp b/src/modules/flight_mode_manager/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.cpp index 1df2d0a9eb..549d04cc26 100644 --- a/src/modules/flight_mode_manager/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.cpp +++ b/src/modules/flight_mode_manager/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.cpp @@ -61,14 +61,6 @@ bool FlightTaskManualAltitudeSmoothVel::activate(const vehicle_local_position_se return ret; } -void FlightTaskManualAltitudeSmoothVel::reActivate() -{ - FlightTaskManualAltitude::reActivate(); - // The task is reacivated while the vehicle is on the ground. To detect takeoff in mc_pos_control_main properly - // using the generated jerk, reset the z derivatives to zero - _smoothing.reset(0.f, 0.f, _position(2)); -} - void FlightTaskManualAltitudeSmoothVel::_ekfResetHandlerPositionZ(float delta_z) { _smoothing.setCurrentPosition(_position(2)); diff --git a/src/modules/flight_mode_manager/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.hpp b/src/modules/flight_mode_manager/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.hpp index 6e7e2728cd..056c2e5139 100644 --- a/src/modules/flight_mode_manager/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.hpp +++ b/src/modules/flight_mode_manager/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.hpp @@ -49,7 +49,6 @@ public: virtual ~FlightTaskManualAltitudeSmoothVel() = default; bool activate(const vehicle_local_position_setpoint_s &last_setpoint) override; - void reActivate() override; protected: virtual void _updateSetpoints() override;