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commander remove globallocalconverter

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This commit is contained in:
Daniel Agar
2018-02-18 18:14:02 -05:00
committed by Lorenz Meier
parent 2c7d45064e
commit ecf46b4f91
1 changed files with 0 additions and 37 deletions
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src/modules/commander/commander.cpp
-37
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@@ -116,7 +116,6 @@
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_command_ack.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/vehicle_land_detected.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_status_flags.h>
@@ -1440,15 +1439,6 @@ Commander::run()
int land_detector_sub = orb_subscribe(ORB_ID(vehicle_land_detected));
land_detector.landed = true;
/*
* The home position is set based on GPS only, to prevent a dependency between
* position estimator and commander. RAW GPS is more than good enough for a
* non-flying vehicle.
*/
/* Subscribe to GPS topic */
int gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
/* Subscribe to differential pressure topic */
int diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure));
struct differential_pressure_s diff_pres;
@@ -2318,32 +2308,6 @@ Commander::run()
}
}
/*
* Check GPS fix quality. Note that this check augments the position validity
* checks and adds an additional level of protection.
*/
orb_check(gps_sub, &updated);
if (updated) {
vehicle_gps_position_s gps_position = {};
gps_position.eph = FLT_MAX;
gps_position.epv = FLT_MAX;
orb_copy(ORB_ID(vehicle_gps_position), gps_sub, &gps_position);
/* Initialize map projection if gps is valid */
if (!map_projection_global_initialized()
&& (gps_position.eph < eph_threshold)
&& (gps_position.epv < epv_threshold)
&& hrt_elapsed_time((hrt_abstime *)&gps_position.timestamp) < 1e6) {
/* set reference for global coordinates <--> local coordiantes conversion and map_projection */
globallocalconverter_init(gps_position.lat * 1.0e-7, gps_position.lon * 1.0e-7, gps_position.alt * 1.0e-3f, hrt_absolute_time());
}
}
/* start mission result check */
const auto prev_mission_instance_count = _mission_result_sub.get().instance_count;
if (_mission_result_sub.update()) {
@@ -3116,7 +3080,6 @@ Commander::run()
px4_close(offboard_control_mode_sub);
px4_close(local_position_sub);
px4_close(global_position_sub);
px4_close(gps_sub);
px4_close(safety_sub);
px4_close(cmd_sub);
px4_close(subsys_sub);