Navigator: loiter: remove unnecessary _loiter_pos_set (PX4#21776)

* Navigator: loiter: remove unnecessary _loiter_pos_set

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

* Navigator: loiter: remove commented line

---------

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Matthias Grob <maetugr@gmail.com>

src/modules/navigator/loiter.cpp

@@ -48,12 +48,6 @@ Loiter::Loiter(Navigator *navigator) :
 {
 }
 
-void
-Loiter::on_inactive()
-{
-	_loiter_pos_set = false;
-}
-
 void
 Loiter::on_activation()
 {
@@ -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
@@ -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) {

src/modules/navigator/loiter.h

@@ -51,7 +51,6 @@ class Loiter : public MissionBlock, public ModuleParams
 	Loiter(Navigator *navigator);
 	~Loiter() = default;
 
-	void on_inactive() override;
 	void on_activation() override;
 	void on_active() override;
 
@@ -67,5 +66,4 @@ class Loiter : public MissionBlock, public ModuleParams
 	 */
 	void set_loiter_position();
 
-	bool _loiter_pos_set{false};
 };