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AC_WPNav: remove unassigned _track_desired #17122

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Apr 8, 2021
Merged

AC_WPNav: remove unassigned _track_desired #17122

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5 changes: 0 additions & 5 deletions libraries/AC_WPNav/AC_WPNav.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -371,11 +371,6 @@ bool AC_WPNav::set_wp_destination_next_NED(const Vector3f& destination_NED)
/// relies on set_wp_destination or set_wp_origin_and_destination having been called first
void AC_WPNav::shift_wp_origin_to_current_pos()
{
// return immediately if vehicle is not at the origin
if (_track_desired > 0.0f) {
return;
}

// get current and target locations
const Vector3f &curr_pos = _inav.get_position();
const Vector3f pos_target = _pos_control.get_pos_target();
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1 change: 0 additions & 1 deletion libraries/AC_WPNav/AC_WPNav.h
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Expand Up @@ -287,7 +287,6 @@ class AC_WPNav
Vector3f _origin; // starting point of trip to next waypoint in cm from ekf origin
Vector3f _destination; // target destination in cm from ekf origin
float _track_error_xy; // horizontal error of the actual position vs the desired position
float _track_desired; // our desired distance along the track in cm
float _track_scalar_dt; // time compression multiplier to slow the progress along the track
float _yaw; // current yaw heading in centi-degrees based on track direction
float _yaw_rate_cds; // current yaw rate in centi-degrees/second based on track curvature
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