test : change location

@@ -47,7 +47,7 @@
 
 
 #include "mission.h"
 #include "mission.h"
 #include "navigator.h"
 #include "navigator.h"
-#include "iostream"
+
 #include <string.h>
 #include <string.h>
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_hrt.h>
 #include <dataman/dataman.h>
 #include <dataman/dataman.h>
@@ -1031,30 +1031,6 @@ Mission::set_mission_items()
 					generate_waypoint_from_heading(&pos_sp_triplet->current, pos_sp_triplet->current.yaw);
 					generate_waypoint_from_heading(&pos_sp_triplet->current, pos_sp_triplet->current.yaw);
 				}
 				}
 
 
-				/* don't advance mission after FW to MC command */
-				if (_mission_item.nav_cmd == NAV_CMD_DO_VTOL_TRANSITION
-				    && _work_item_type == WORK_ITEM_TYPE_DEFAULT
-				    && new_work_item_type == WORK_ITEM_TYPE_DEFAULT
-				    && _navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING
-				    && !_navigator->get_land_detected()->landed
-				    && pos_sp_triplet->current.valid) {
-
-					new_work_item_type = WORK_ITEM_TYPE_CMD_BEFORE_MOVE;
-				}
-
-				/* after FW to MC transition finish moving to the waypoint */
-				if (_work_item_type == WORK_ITEM_TYPE_CMD_BEFORE_MOVE &&
-				    new_work_item_type == WORK_ITEM_TYPE_DEFAULT
-				    && pos_sp_triplet->current.valid) {
-
-					new_work_item_type = WORK_ITEM_TYPE_DEFAULT;
-
-					_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
-					copy_position_if_valid(&_mission_item, &pos_sp_triplet->current);
-					_mission_item.autocontinue = true;
-					_mission_item.time_inside = 0.0f;
-				}
-
 				// ignore certain commands in mission fast forward
 				// ignore certain commands in mission fast forward
 				if ((_mission_execution_mode == mission_result_s::MISSION_EXECUTION_MODE_FAST_FORWARD) &&
 				if ((_mission_execution_mode == mission_result_s::MISSION_EXECUTION_MODE_FAST_FORWARD) &&
 				    (_mission_item.nav_cmd == NAV_CMD_DELAY)) {
 				    (_mission_item.nav_cmd == NAV_CMD_DELAY)) {
@@ -1862,9 +1838,6 @@ bool Mission::position_setpoint_equal(const position_setpoint_s *p1, const posit
 
 
 void Mission::publish_navigator_mission_item()
 void Mission::publish_navigator_mission_item()
 {
 {
-	
-		for(int i=0;i<8;i++)
-{
 	navigator_mission_item_s navigator_mission_item{};
 	navigator_mission_item_s navigator_mission_item{};
 
 
 	navigator_mission_item.instance_count = _navigator->mission_instance_count();
 	navigator_mission_item.instance_count = _navigator->mission_instance_count();
@@ -1891,11 +1864,4 @@ void Mission::publish_navigator_mission_item()
 	navigator_mission_item.timestamp = hrt_absolute_time();
 	navigator_mission_item.timestamp = hrt_absolute_time();
 
 
 	_navigator_mission_item_pub.publish(navigator_mission_item);
 	_navigator_mission_item_pub.publish(navigator_mission_item);
-	
-	
-	std::cout<<navigator_mission_item.latitude<<std::endl;
-	navigator_mission_item.sequence_current++;
-	std::cout<<"************************"<<std::endl;
-}
-	
 }
 }

@@ -281,7 +281,6 @@ private:
 		WORK_ITEM_TYPE_TAKEOFF,		/**< takeoff before moving to waypoint */
 		WORK_ITEM_TYPE_TAKEOFF,		/**< takeoff before moving to waypoint */
 		WORK_ITEM_TYPE_MOVE_TO_LAND,	/**< move to land waypoint before descent */
 		WORK_ITEM_TYPE_MOVE_TO_LAND,	/**< move to land waypoint before descent */
 		WORK_ITEM_TYPE_ALIGN,		/**< align for next waypoint */
 		WORK_ITEM_TYPE_ALIGN,		/**< align for next waypoint */
-		WORK_ITEM_TYPE_CMD_BEFORE_MOVE,
 		WORK_ITEM_TYPE_TRANSITON_AFTER_TAKEOFF,
 		WORK_ITEM_TYPE_TRANSITON_AFTER_TAKEOFF,
 		WORK_ITEM_TYPE_MOVE_TO_LAND_AFTER_TRANSITION,
 		WORK_ITEM_TYPE_MOVE_TO_LAND_AFTER_TRANSITION,
 		WORK_ITEM_TYPE_PRECISION_LAND
 		WORK_ITEM_TYPE_PRECISION_LAND