From fe6465b748e5bb91e9481e9f748a6db5beed79a0 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 3 Aug 2017 10:37:29 +0900
Subject: [PATCH] Rover: remove next_WP, wp_distance, navigate

Also remove prev_WP, wp_totalDistance which are all handled within mode class
---
 APMrover2/Rover.h           | 11 -----------
 APMrover2/commands.cpp      |  3 ---
 APMrover2/control_modes.cpp |  1 -
 APMrover2/navigation.cpp    | 23 -----------------------
 4 files changed, 38 deletions(-)
 delete mode 100644 APMrover2/navigation.cpp

diff --git a/APMrover2/Rover.h b/APMrover2/Rover.h
index 8c724f8fad..9991343659 100644
--- a/APMrover2/Rover.h
+++ b/APMrover2/Rover.h
@@ -308,12 +308,6 @@ private:
     uint32_t control_sensors_enabled;
     uint32_t control_sensors_health;
 
-    // Waypoint distances
-    // Distance between rover and next waypoint.  Meters
-    float wp_distance;
-    // Distance between previous and next waypoint.  Meters
-    int32_t wp_totalDistance;
-
     // Conditional command
     // A value used in condition commands (eg delay, change alt, etc.)
     // For example in a change altitude command, it is the altitude to change to.
@@ -336,11 +330,6 @@ private:
     // true if the compass's initial location has been set
     bool compass_init_location;
 
-    // The location of the previous waypoint.  Used for track following and altitude ramp calculations
-    struct Location prev_WP;
-    // The location of the current/active waypoint.  Used for track following
-    struct Location next_WP;
-
     // IMU variables
     // The main loop execution time.  Seconds
     // This is the time between calls to the DCM algorithm and is the Integration time for the gyros.
diff --git a/APMrover2/commands.cpp b/APMrover2/commands.cpp
index 2e3d2042d7..6761ddb741 100644
--- a/APMrover2/commands.cpp
+++ b/APMrover2/commands.cpp
@@ -56,9 +56,6 @@ bool Rover::set_home(const Location& loc, bool lock)
                 DataFlash.Log_Write_Mission_Cmd(mission, temp_cmd);
             }
         }
-
-        // initialise navigation to home
-        next_WP = prev_WP = home;
     }
 
     // lock home position
diff --git a/APMrover2/control_modes.cpp b/APMrover2/control_modes.cpp
index c442b821d4..85bd340a54 100644
--- a/APMrover2/control_modes.cpp
+++ b/APMrover2/control_modes.cpp
@@ -76,7 +76,6 @@ void Rover::read_control_switch()
         }
 
         oldSwitchPosition = switchPosition;
-        prev_WP = current_loc;
 
         // reset speed integrator
         g.pidSpeedThrottle.reset_I();
diff --git a/APMrover2/navigation.cpp b/APMrover2/navigation.cpp
deleted file mode 100644
index 8d7e6d5d0b..0000000000
--- a/APMrover2/navigation.cpp
+++ /dev/null
@@ -1,23 +0,0 @@
-#include "Rover.h"
-
-//****************************************************************
-// Function that will calculate the desired direction to fly and distance
-//****************************************************************
-void Rover::navigate()
-{
-    // do not navigate with corrupt data
-    // ---------------------------------
-    if (!have_position) {
-        return;
-    }
-
-    if ((next_WP.lat == 0 && next_WP.lng == 0) || (home_is_set == HOME_UNSET)) {
-        return;
-    }
-
-    // waypoint distance from rover
-    // ----------------------------
-    wp_distance = get_distance(current_loc, next_WP);
-}
-
-