[Navigation][Land] disable to update the target xy and yaw for landin…

…g process
jsk-ros-pkg · Apr 10, 2024 · b615e38 · b615e38
1 parent 389e558
commit b615e38
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diff --git a/aerial_robot_control/include/aerial_robot_control/flight_navigation.h b/aerial_robot_control/include/aerial_robot_control/flight_navigation.h
@@ -463,9 +463,6 @@ namespace aerial_robot_navigation
       if(!teleop_flag_) return;
 
       setNaviState(LAND_STATE);
-
-      setTargetXyFromCurrentState();
-      setTargetYawFromCurrentState();
       ROS_INFO("Land state");
     }
 

diff --git a/aerial_robot_control/src/flight_navigation.cpp b/aerial_robot_control/src/flight_navigation.cpp
@@ -447,8 +447,6 @@ void BaseNavigator::joyStickControl(const sensor_msgs::JoyConstPtr & joy_msg)
 
       setNaviState(LAND_STATE);
       //update
-      setTargetXyFromCurrentState();
-      setTargetYawFromCurrentState();
       ROS_INFO("Joy Control: Land state");
 
       return;
@@ -682,8 +680,6 @@ void BaseNavigator::update()
       if(normal_land && !force_att_control_flag_)
         {
           setNaviState(LAND_STATE);
-          setTargetXyFromCurrentState();
-          setTargetYawFromCurrentState();
         }
     }