Mirrors_Framework/PX4-Autopilot
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position_setpoint delete unused SETPOINT_TYPE_FOLLOW_TARGET

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This commit is contained in:
Daniel Agar
2022-09-18 13:03:28 -04:00
parent c707997b9e
commit 11dd924bd4
3 changed files with 1 additions and 9 deletions
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msg/position_setpoint.msg
-1
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@@ -8,7 +8,6 @@ uint8 SETPOINT_TYPE_LOITER=2 # loiter setpoint
uint8 SETPOINT_TYPE_TAKEOFF=3 # takeoff setpoint uint8 SETPOINT_TYPE_TAKEOFF=3 # takeoff setpoint
uint8 SETPOINT_TYPE_LAND=4 # land setpoint, altitude must be ignored, descend until landing uint8 SETPOINT_TYPE_LAND=4 # land setpoint, altitude must be ignored, descend until landing
uint8 SETPOINT_TYPE_IDLE=5 # do nothing, switch off motors or keep at idle speed (MC) uint8 SETPOINT_TYPE_IDLE=5 # do nothing, switch off motors or keep at idle speed (MC)
uint8 SETPOINT_TYPE_FOLLOW_TARGET=6 # setpoint in NED frame (x, y, z, vx, vy, vz) set by follow target
uint8 VELOCITY_FRAME_LOCAL_NED = 1 # MAV_FRAME_LOCAL_NED uint8 VELOCITY_FRAME_LOCAL_NED = 1 # MAV_FRAME_LOCAL_NED
uint8 VELOCITY_FRAME_BODY_NED = 8 # MAV_FRAME_BODY_NED uint8 VELOCITY_FRAME_BODY_NED = 8 # MAV_FRAME_BODY_NED
src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
-6
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@@ -480,12 +480,6 @@ bool FlightTaskAuto::_evaluateTriplets()
_yawspeed_setpoint = _weathervane.getWeathervaneYawrate(); _yawspeed_setpoint = _weathervane.getWeathervaneYawrate();
} }
} else if (_type == WaypointType::follow_target && _sub_triplet_setpoint.get().current.yawspeed_valid) {
_yawspeed_setpoint = _sub_triplet_setpoint.get().current.yawspeed;
_yaw_setpoint = NAN;
} else { } else {
if (!_is_yaw_good_for_control) { if (!_is_yaw_good_for_control) {
_yaw_lock = false; _yaw_lock = false;
src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp
+1 -2
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@@ -71,8 +71,7 @@ enum class WaypointType : int {
loiter = position_setpoint_s::SETPOINT_TYPE_LOITER, loiter = position_setpoint_s::SETPOINT_TYPE_LOITER,
takeoff = position_setpoint_s::SETPOINT_TYPE_TAKEOFF, takeoff = position_setpoint_s::SETPOINT_TYPE_TAKEOFF,
land = position_setpoint_s::SETPOINT_TYPE_LAND, land = position_setpoint_s::SETPOINT_TYPE_LAND,
idle = position_setpoint_s::SETPOINT_TYPE_IDLE, idle = position_setpoint_s::SETPOINT_TYPE_IDLE
follow_target = position_setpoint_s::SETPOINT_TYPE_FOLLOW_TARGET,
}; };
enum class State { enum class State {