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update UUV and rover controllers to use trajectory_setpoint and cleanup unused position_setpoint fields

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This commit is contained in:
Daniel Agar
2021-03-09 10:36:34 -05:00
committed by GitHub
parent a0b9b44ff6
commit d37510a43d
7 changed files with 29 additions and 46 deletions
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src/modules/navigator/follow_target.cpp
-1
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@@ -327,7 +327,6 @@ void FollowTarget::update_position_sp(bool use_velocity, bool use_position, floa
mission_apply_limitation(_mission_item);
mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
pos_sp_triplet->current.type = position_setpoint_s::SETPOINT_TYPE_FOLLOW_TARGET;
pos_sp_triplet->current.position_valid = use_position;
pos_sp_triplet->current.velocity_valid = use_velocity;
pos_sp_triplet->current.vx = _current_vel(0);
pos_sp_triplet->current.vy = _current_vel(1);
src/modules/navigator/mission.cpp
-4
View File
@@ -1838,10 +1838,6 @@ bool Mission::position_setpoint_equal(const position_setpoint_s *p1, const posit
{
return ((p1->valid == p2->valid) &&
(p1->type == p2->type) &&
(fabsf(p1->x - p2->x) < FLT_EPSILON) &&
(fabsf(p1->y - p2->y) < FLT_EPSILON) &&
(fabsf(p1->z - p2->z) < FLT_EPSILON) &&
(p1->position_valid == p2->position_valid) &&
(fabsf(p1->vx - p2->vx) < FLT_EPSILON) &&
(fabsf(p1->vy - p2->vy) < FLT_EPSILON) &&
(fabsf(p1->vz - p2->vz) < FLT_EPSILON) &&