From 756ea3019ec3a50623d846c019c6474488273a34 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Wed, 23 Jul 2014 23:00:34 +0200 Subject: datalink loss: fix type error --- src/modules/navigator/datalinkloss.cpp | 24 ++---------------------- 1 file changed, 2 insertions(+), 22 deletions(-) (limited to 'src/modules/navigator/datalinkloss.cpp') diff --git a/src/modules/navigator/datalinkloss.cpp b/src/modules/navigator/datalinkloss.cpp index 52f263aff..91bb5b110 100644 --- a/src/modules/navigator/datalinkloss.cpp +++ b/src/modules/navigator/datalinkloss.cpp @@ -90,26 +90,6 @@ DataLinkLoss::on_inactive() void DataLinkLoss::on_activation() { - /* decide where to enter the RTL procedure when we switch into it */ - //if (_rtl_state == RTL_STATE_NONE) { - //[> for safety reasons don't go into RTL if landed <] - //if (_navigator->get_vstatus()->condition_landed) { - //_rtl_state = RTL_STATE_LANDED; - //mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: no RTL when landed"); - - //[> if lower than return altitude, climb up first <] - //} else if (_navigator->get_global_position()->alt < _navigator->get_home_position()->alt - //+ _param_return_alt.get()) { - //_rtl_state = RTL_STATE_CLIMB; - - //[> otherwise go straight to return <] - //} else { - //[> set altitude setpoint to current altitude <] - //_rtl_state = RTL_STATE_RETURN; - //_mission_item.altitude_is_relative = false; - //_mission_item.altitude = _navigator->get_global_position()->alt; - //} - //} _dll_state = DLL_STATE_FLYTOCOMMSHOLDWP; set_dll_item(); } @@ -139,7 +119,7 @@ DataLinkLoss::set_dll_item() _mission_item.lat = (double)(_param_commsholdlat.get()) * 1.0e-7; _mission_item.lon = (double)(_param_commsholdlon.get()) * 1.0e-7; _mission_item.altitude_is_relative = false; - _mission_item.altitude = (double)(_param_commsholdalt.get()); + _mission_item.altitude = _param_commsholdalt.get(); _mission_item.yaw = NAN; _mission_item.loiter_radius = _navigator->get_loiter_radius(); _mission_item.loiter_direction = 1; @@ -157,7 +137,7 @@ DataLinkLoss::set_dll_item() _mission_item.lat = (double)(_param_airfieldhomelat.get()) * 1.0e-7; _mission_item.lon = (double)(_param_airfieldhomelon.get()) * 1.0e-7; _mission_item.altitude_is_relative = false; - _mission_item.altitude = (double)(_param_airfieldhomealt.get()); + _mission_item.altitude = _param_airfieldhomealt.get(); _mission_item.yaw = NAN; _mission_item.loiter_radius = _navigator->get_loiter_radius(); _mission_item.loiter_direction = 1; -- cgit v1.2.3