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SITL: remove dead stores from rangefinder_range #29173

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Jan 29, 2025
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SITL: remove dead stores from rangefinder_range #29173

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38 changes: 19 additions & 19 deletions libraries/SITL/SIM_Aircraft.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -536,6 +536,25 @@ float Aircraft::perpendicular_distance_to_rangefinder_surface() const

float Aircraft::rangefinder_range() const
{
float altitude = perpendicular_distance_to_rangefinder_surface();

// sensor position offset in body frame
const Vector3f relPosSensorBF = sitl->rngfnd_pos_offset;

// n.b. the following code is assuming rotation-pitch-270:
// adjust altitude for position of the sensor on the vehicle if position offset is non-zero
if (!relPosSensorBF.is_zero()) {
// get a rotation matrix following DCM conventions (body to earth)
Matrix3f rotmat;
sitl->state.quaternion.rotation_matrix(rotmat);
// rotate the offset into earth frame
const Vector3f relPosSensorEF = rotmat * relPosSensorBF;
// correct the altitude at the sensor
altitude -= relPosSensorEF.z;
}

const auto orientation = (Rotation)sitl->sonar_rot.get();
#if SITL_RANGEFINDER_AS_OBJECT_SENSOR

float roll = sitl->state.rollDeg;
float pitch = sitl->state.pitchDeg;
Expand Down Expand Up @@ -563,25 +582,6 @@ float Aircraft::rangefinder_range() const
}
}

float altitude = perpendicular_distance_to_rangefinder_surface();

// sensor position offset in body frame
const Vector3f relPosSensorBF = sitl->rngfnd_pos_offset;

// n.b. the following code is assuming rotation-pitch-270:
// adjust altitude for position of the sensor on the vehicle if position offset is non-zero
if (!relPosSensorBF.is_zero()) {
// get a rotation matrix following DCM conventions (body to earth)
Matrix3f rotmat;
sitl->state.quaternion.rotation_matrix(rotmat);
// rotate the offset into earth frame
const Vector3f relPosSensorEF = rotmat * relPosSensorBF;
// correct the altitude at the sensor
altitude -= relPosSensorEF.z;
}

const auto orientation = (Rotation)sitl->sonar_rot.get();
#if SITL_RANGEFINDER_AS_OBJECT_SENSOR
/*
rover and copter using SITL rangefinders as obstacle sensors
*/
Expand Down
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