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remove empty_trajectory_waypoint and getter method for avoidance

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waypoints in FlightTasks. In obstacle avoidace library reset desired
avoidance waypoints after publication
This commit is contained in:
Martina Rivizzigno
2019-03-03 15:04:40 +01:00
committed by bresch
parent 34b0f33098
commit e464502d2d
3 changed files with 12 additions and 26 deletions
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src/lib/FlightTasks/tasks/FlightTask/FlightTask.cpp
-9
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@@ -8,14 +8,6 @@ const vehicle_local_position_setpoint_s FlightTask::empty_setpoint = {0, NAN, NA
const vehicle_constraints_s FlightTask::empty_constraints = {0, NAN, NAN, NAN, NAN, NAN, NAN, NAN, {}};
const landing_gear_s FlightTask::empty_landing_gear_default_keep = {0, landing_gear_s::GEAR_KEEP, {}};
const vehicle_trajectory_waypoint_s FlightTask::empty_trajectory_waypoint = {0, 0, {0, 0, 0, 0, 0, 0, 0},
{ {0, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {NAN, NAN, NAN}, NAN, NAN, false, {0, 0, 0}},
{0, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {NAN, NAN, NAN}, NAN, NAN, false, {0, 0, 0}},
{0, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {NAN, NAN, NAN}, NAN, NAN, false, {0, 0, 0}},
{0, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {NAN, NAN, NAN}, NAN, NAN, false, {0, 0, 0}},
{0, {NAN, NAN, NAN}, {NAN, NAN, NAN}, {NAN, NAN, NAN}, NAN, NAN, false, {0, 0, 0}}
}
};
bool FlightTask::initializeSubscriptions(SubscriptionArray &subscription_array)
{
@@ -92,7 +84,6 @@ void FlightTask::_resetSetpoints()
_jerk_setpoint.setAll(NAN);
_thrust_setpoint.setAll(NAN);
_yaw_setpoint = _yawspeed_setpoint = NAN;
_desired_waypoint = FlightTask::empty_trajectory_waypoint;
}
void FlightTask::_evaluateVehicleLocalPosition()