From 5df3b876afe2a2fcc59296f76e4d9b5ace37d4ce Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Mon, 10 Jan 2022 17:34:05 +0100 Subject: [PATCH] FlightTaskOrbit: remove unnecessary _sanitizeParams() in activation the parameters are anyways sanitized on every update so even if activate() sets unfeasible one's they get adjusted on the first update. --- src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp | 1 - 1 file changed, 1 deletion(-) diff --git a/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp b/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp index a8e61c687965..3528f6896eaa 100644 --- a/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp +++ b/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp @@ -152,7 +152,6 @@ bool FlightTaskOrbit::activate(const vehicle_local_position_setpoint_s &last_set bool ret = FlightTaskManualAltitude::activate(last_setpoint); _orbit_radius = _radius_min; _orbit_velocity = 1.f; - _sanitizeParams(_orbit_radius, _orbit_velocity); _center = _position; _initial_heading = _yaw; _slew_rate_yaw.setForcedValue(_yaw);