From b615e38a9dfca8c5e0895a735d5dc4aa12292305 Mon Sep 17 00:00:00 2001 From: Moju Zhao Date: Sun, 28 Jan 2024 20:40:39 +0900 Subject: [PATCH] [Navigation][Land] disable to update the target xy and yaw for landing process --- .../include/aerial_robot_control/flight_navigation.h | 3 --- aerial_robot_control/src/flight_navigation.cpp | 4 ---- 2 files changed, 7 deletions(-) diff --git a/aerial_robot_control/include/aerial_robot_control/flight_navigation.h b/aerial_robot_control/include/aerial_robot_control/flight_navigation.h index b6ed1b343..9e9aca157 100644 --- 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 index 33c39ffea..2554732ff 100644 --- 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(); } }