From 079f3ca67cd53daefd68738aaba52d6af6799cc8 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Mon, 11 Nov 2024 15:53:30 +0100 Subject: [PATCH] StickAccelerationXY: Simplify collision prevention call --- .../tasks/Utility/StickAccelerationXY.cpp | 6 +----- 1 file changed, 1 insertion(+), 5 deletions(-) diff --git a/src/modules/flight_mode_manager/tasks/Utility/StickAccelerationXY.cpp b/src/modules/flight_mode_manager/tasks/Utility/StickAccelerationXY.cpp index e9e9ef0dbf..f823f929e8 100644 --- a/src/modules/flight_mode_manager/tasks/Utility/StickAccelerationXY.cpp +++ b/src/modules/flight_mode_manager/tasks/Utility/StickAccelerationXY.cpp @@ -97,11 +97,7 @@ void StickAccelerationXY::generateSetpoints(Vector2f stick_xy, const float yaw, _acceleration_setpoint = stick_xy.emult(acceleration_scale); if (_collision_prevention.is_active()) { - matrix::Vector2f accel_setpoint_xy = _acceleration_setpoint; - matrix::Vector2f vel_setpoint_xy = _velocity_setpoint; - _collision_prevention.modifySetpoint(accel_setpoint_xy, vel_setpoint_xy); - _acceleration_setpoint = accel_setpoint_xy; - + _collision_prevention.modifySetpoint(_acceleration_setpoint, _velocity_setpoint); } // Add drag to limit speed and brake again