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Code Issues Releases Activity

OP-1350 remove checks for valid TakeOffLocation. It is already handled in takeoffLocationHandler

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This commit is contained in:
Alessio Morale 2014-05-16 21:56:44 +02:00
parent ffa5e66d8b
commit f3df459278
1 changed files with 6 additions and 13 deletions
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19
flight/modules/ManualControl/pathfollowerhandler.c
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@ -73,21 +73,14 @@ void pathFollowerHandler(bool newinit)
case FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE:
// Simple Return To Base mode - keep altitude the same applying configured delta, fly to takeoff position
if (takeoffLocation.Status == TAKEOFFLOCATION_STATUS_VALID) {
pathDesired.Start.North = takeoffLocation.North;
pathDesired.Start.East = takeoffLocation.East;
pathDesired.End.North = takeoffLocation.North;
pathDesired.End.East = takeoffLocation.East;
} else {
// in case for some bad reason takeofflocation isn't valid, fails back to home location.
pathDesired.Start.North = 0;
pathDesired.Start.East = 0;
pathDesired.End.North = 0;
pathDesired.End.East = 0;
}
pathDesired.Start.North = takeoffLocation.North;
pathDesired.Start.East = takeoffLocation.East;
pathDesired.Start.Down = positionState.Down - settings.ReturnToBaseAltitudeOffset;
pathDesired.End.North = takeoffLocation.North;
pathDesired.End.East = takeoffLocation.East;
pathDesired.End.Down = positionState.Down - settings.ReturnToBaseAltitudeOffset;
pathDesired.StartingVelocity = 1;
pathDesired.EndingVelocity = 0;
pathDesired.Mode = PATHDESIRED_MODE_FLYENDPOINT;