From f0140a62901591096c20ba4054b56f664eda4783 Mon Sep 17 00:00:00 2001 From: Dennis Mannhart Date: Fri, 23 Mar 2018 10:58:38 +0100 Subject: [PATCH] loiter: remove yaw_mode param and logic --- src/modules/navigator/loiter.cpp | 20 -------------------- 1 file changed, 20 deletions(-) diff --git a/src/modules/navigator/loiter.cpp b/src/modules/navigator/loiter.cpp index 07a218fe71..ba14e09016 100644 --- a/src/modules/navigator/loiter.cpp +++ b/src/modules/navigator/loiter.cpp @@ -112,7 +112,6 @@ Loiter::set_loiter_position() pos_sp_triplet->next.valid = false; _navigator->set_can_loiter_at_sp(pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_LOITER); - _navigator->set_position_setpoint_triplet_updated(); } @@ -139,26 +138,7 @@ Loiter::reposition() memcpy(&pos_sp_triplet->current, &rep->current, sizeof(rep->current)); pos_sp_triplet->next.valid = false; - // set yaw (depends on the value of parameter MIS_YAWMODE): - // MISSION_YAWMODE_NONE: do not change yaw setpoint - // MISSION_YAWMODE_FRONT_TO_WAYPOINT: point to next waypoint - if (_param_yawmode.get() != MISSION_YAWMODE_NONE) { - float travel_dist = get_distance_to_next_waypoint(_navigator->get_global_position()->lat, - _navigator->get_global_position()->lon, - pos_sp_triplet->current.lat, pos_sp_triplet->current.lon); - - if (travel_dist > 1.0f) { - // calculate direction the vehicle should point to. - pos_sp_triplet->current.yaw = get_bearing_to_next_waypoint( - _navigator->get_global_position()->lat, - _navigator->get_global_position()->lon, - pos_sp_triplet->current.lat, - pos_sp_triplet->current.lon); - } - } - _navigator->set_can_loiter_at_sp(pos_sp_triplet->current.type == position_setpoint_s::SETPOINT_TYPE_LOITER); - _navigator->set_position_setpoint_triplet_updated(); // mark this as done