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Navigator: loiter: remove unnecessary _loiter_pos_set #21776

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merged 2 commits into from
Jun 30, 2023
Merged

Navigator: loiter: remove unnecessary _loiter_pos_set #21776

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b089958
Navigator: loiter: remove unnecessary _loiter_pos_set
sfuhrer Jun 29, 2023
2e46796
Navigator: loiter: remove commented line
MaEtUgR Jun 30, 2023
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17 changes: 0 additions & 17 deletions src/modules/navigator/loiter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -48,12 +48,6 @@ Loiter::Loiter(Navigator *navigator) :
{
}

void
Loiter::on_inactive()
{
_loiter_pos_set = false;
}

void
Loiter::on_activation()
{
Expand All @@ -74,11 +68,6 @@ Loiter::on_active()
if (_navigator->get_reposition_triplet()->current.valid) {
reposition();
}

// reset the loiter position if we get disarmed
if (_navigator->get_vstatus()->arming_state != vehicle_status_s::ARMING_STATE_ARMED) {
_loiter_pos_set = false;
}
}

void
Expand All @@ -93,16 +82,10 @@ Loiter::set_loiter_position()
_navigator->set_can_loiter_at_sp(false);
_navigator->get_position_setpoint_triplet()->current.type = position_setpoint_s::SETPOINT_TYPE_IDLE;
_navigator->set_position_setpoint_triplet_updated();
_loiter_pos_set = false;
return;

} else if (_loiter_pos_set) {
// Already set, nothing to do.
return;
}

_loiter_pos_set = true;

position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();

if (_navigator->get_land_detected()->landed) {
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3 changes: 1 addition & 2 deletions src/modules/navigator/loiter.h
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Expand Up @@ -51,7 +51,7 @@ class Loiter : public MissionBlock, public ModuleParams
Loiter(Navigator *navigator);
~Loiter() = default;

void on_inactive() override;
// void on_inactive() override;
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void on_activation() override;
void on_active() override;

Expand All @@ -67,5 +67,4 @@ class Loiter : public MissionBlock, public ModuleParams
*/
void set_loiter_position();

bool _loiter_pos_set{false};
};
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