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Use return INFINITY for FixedwingLandDetector::_get_max_altitude(). #12343

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merged 1 commit into from
Oct 15, 2019
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Use return INFINITY for FixedwingLandDetector::_get_max_altitude(). #12343

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7 changes: 0 additions & 7 deletions src/modules/land_detector/FixedwingLandDetector.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -57,13 +57,6 @@ void FixedwingLandDetector::_update_topics()
_airspeed_sub.update(&_airspeed);
}

float FixedwingLandDetector::_get_max_altitude()
{
// TODO: This means no altitude limit as the limit
// is always current position plus 10000 meters.
return roundf(-_vehicle_local_position.z + 10000);
}

bool FixedwingLandDetector::_get_landed_state()
{
// Only trigger flight conditions if we are armed.
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4 changes: 0 additions & 4 deletions src/modules/land_detector/FixedwingLandDetector.h
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Expand Up @@ -43,7 +43,6 @@
#pragma once

#include <matrix/math.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/airspeed.h>

#include "LandDetector.h"
Expand All @@ -61,9 +60,6 @@ class FixedwingLandDetector final : public LandDetector
protected:

bool _get_landed_state() override;

float _get_max_altitude() override;

void _update_topics() override;

private:
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1 change: 0 additions & 1 deletion src/modules/land_detector/LandDetector.h
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Expand Up @@ -61,7 +61,6 @@
#include <uORB/topics/vehicle_land_detected.h>
#include <uORB/topics/vehicle_local_position.h>


using namespace time_literals;

namespace land_detector
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5 changes: 0 additions & 5 deletions src/modules/land_detector/MulticopterLandDetector.h
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Expand Up @@ -42,16 +42,11 @@

#pragma once

#include <math.h>

#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/vehicle_acceleration.h>
#include <uORB/topics/vehicle_angular_velocity.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_local_position_setpoint.h>

#include "LandDetector.h"
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1 change: 0 additions & 1 deletion src/modules/land_detector/VtolLandDetector.h
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Expand Up @@ -41,7 +41,6 @@

#pragma once

#include <uORB/Subscription.hpp>
#include <uORB/topics/airspeed.h>
#include <uORB/topics/vehicle_status.h>

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