From 8547ebb8638481b580e6741dc08f37dce1934c23 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Wed, 12 Mar 2025 13:05:47 +0100 Subject: [PATCH] Takeoff: remove set loiter logic, as it is handled in loiter.cpp already (#24454) Signed-off-by: Silvan --- src/modules/navigator/takeoff.cpp | 19 ------------------- 1 file changed, 19 deletions(-) diff --git a/src/modules/navigator/takeoff.cpp b/src/modules/navigator/takeoff.cpp index d9b22720f34..c1513690114 100644 --- a/src/modules/navigator/takeoff.cpp +++ b/src/modules/navigator/takeoff.cpp @@ -69,25 +69,6 @@ Takeoff::on_active() _navigator->get_mission_result()->finished = true; _navigator->set_mission_result_updated(); _navigator->mode_completed(getNavigatorStateId()); - - position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet(); - - // set loiter item so position controllers stop doing takeoff logic - if (_navigator->get_land_detected()->landed) { - _mission_item.nav_cmd = NAV_CMD_IDLE; - - } else { - if (pos_sp_triplet->current.valid) { - setLoiterItemFromCurrentPositionSetpoint(&_mission_item); - - } else { - setLoiterItemFromCurrentPosition(&_mission_item); - } - } - - mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current); - - _navigator->set_position_setpoint_triplet_updated(); } }