Removed unused variable/code from HSIDisplay::sendBodySetPointCoordinates().

6490808b · Bryant Mairs · ce8cde82 · 6490808b
Commit 6490808b authored Feb 22, 2012 by Bryant Mairs
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Showing with 1 addition and 7 deletions

HSIDisplay.cc src/ui/HSIDisplay.cc +1 -7

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--- a/src/ui/HSIDisplay.cc
+++ b/src/ui/HSIDisplay.cc
@@ -910,13 +910,7 @@ void HSIDisplay::sendBodySetPointCoordinates()
    // Send the coordinates to the MAV
    if (uas)
    {
-        double dx = uiXSetCoordinate - uas->getLocalX();
+        uas->setLocalPositionSetpoint(uiXSetCoordinate, uiYSetCoordinate, uiZSetCoordinate, uiYawSet);
-        double dy = uiYSetCoordinate - uas->getLocalY();
-        double dz = uiZSetCoordinate - uas->getLocalZ();
-        bool valid = (sqrt(dx*dx + dy*dy + dz*dz) < 200.0);//UASManager::instance()->isInLocalNEDSafetyLimits(uiXSetCoordinate, uiYSetCoordinate, uiZSetCoordinate);
-//        if (valid)
-//        {
-            uas->setLocalPositionSetpoint(uiXSetCoordinate, uiYSetCoordinate, uiZSetCoordinate, uiYawSet);
    }
 }