Mirrors_Framework/PX4-Autopilot
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fw_pos_control_l1 delete unused terrain helper

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This commit is contained in:
Daniel Agar
2017-02-07 01:15:41 -05:00
committed by Lorenz Meier
parent 7e3d07207c
commit 8b4877a6eb
1 changed files with 1 additions and 26 deletions
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src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+1 -26
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013-2016 PX4 Development Team. All rights reserved.
* Copyright (c) 2013-2017 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -211,7 +211,6 @@ private:
bool _land_stayonground;
bool _land_motor_lim;
bool _land_onslope;
bool _land_useterrain;
Landingslope _landingslope;
@@ -592,7 +591,6 @@ FixedwingPositionControl::FixedwingPositionControl() :
_land_stayonground(false),
_land_motor_lim(false),
_land_onslope(false),
_land_useterrain(false),
_landingslope(),
_time_started_landing(0),
_t_alt_prev_valid(0),
@@ -1137,28 +1135,6 @@ void FixedwingPositionControl::get_waypoint_heading_distance(float heading, floa
waypoint_next.alt = _hold_alt;
}
float FixedwingPositionControl::get_terrain_altitude_landing(float land_setpoint_alt,
const struct vehicle_global_position_s &global_pos)
{
if (!PX4_ISFINITE(global_pos.terrain_alt)) {
return land_setpoint_alt;
}
/* Decide if the terrain estimation can be used, once we switched to using the terrain we stick with it
* for the whole landing */
if (_parameters.land_use_terrain_estimate && global_pos.terrain_alt_valid) {
if (!_land_useterrain) {
mavlink_log_info(&_mavlink_log_pub, "Landing, using terrain estimate");
_land_useterrain = true;
}
return global_pos.terrain_alt;
} else {
return land_setpoint_alt;
}
}
float FixedwingPositionControl::get_terrain_altitude_takeoff(float takeoff_alt,
const struct vehicle_global_position_s &global_pos)
{
@@ -2416,7 +2392,6 @@ void FixedwingPositionControl::reset_landing_state()
_land_stayonground = false;
_land_motor_lim = false;
_land_onslope = false;
_land_useterrain = false;
// reset abort land, unless loitering after an abort
if (_fw_pos_ctrl_status.abort_landing == true