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Put parameters inside library. Get rid of unnecessary activation logic

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This commit is contained in:
baumanta
2018-11-20 14:11:33 +01:00
committed by Beat Küng
parent dd45fa6541
commit f5369db245
4 changed files with 61 additions and 39 deletions
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src/lib/CollisionPrevention/CollisionPrevention.cpp
-13
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@@ -106,18 +106,6 @@ void CollisionPrevention::publish_constraints(const Vector2f &original_setpoint,
} else {
_constraints_pub = orb_advertise(ORB_ID(collision_constraints), &constraints);
}
}
void CollisionPrevention::update()
{
// activate/deactivate the collision prevention based on MPC_COL_PREV parameter
if (collision_prevention_enabled()) {
activate();
} else {
deactivate();
}
}
void CollisionPrevention::update_range_constraints()
@@ -155,7 +143,6 @@ void CollisionPrevention::update_range_constraints()
void CollisionPrevention::modifySetpoint(Vector2f &original_setpoint, const float max_speed)
{
update();
reset_constraints();
//calculate movement constraints based on range data