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FlightTask StraightLine: set max vel/acc/dec if value is bigger

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This commit is contained in:
ChristophTobler
2018-07-24 08:40:05 +02:00
committed by Lorenz Meier
parent c619009364
commit 090db6a115
1 changed files with 18 additions and 4 deletions
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src/lib/FlightTasks/tasks/Utility/StraightLine.cpp
+18 -4
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@@ -187,22 +187,34 @@ void StraightLine::setOrigin(const matrix::Vector3f &origin)
void StraightLine::setSpeed(const float &speed)
{
if (speed > 0 && speed < getMaxVel()) {
float vel_max = getMaxVel();
if (speed > 0 && speed < vel_max) {
_desired_speed = speed;
} else if (speed > vel_max) {
_desired_speed = vel_max;
}
}
void StraightLine::setSpeedAtTarget(const float &speed_at_target)
{
if (speed_at_target > 0 && speed_at_target < getMaxVel()) {
float vel_max = getMaxVel();
if (speed_at_target > 0 && speed_at_target < vel_max) {
_desired_speed_at_target = speed_at_target;
} else if (speed_at_target > vel_max) {
_desired_speed_at_target = vel_max;
}
}
void StraightLine::setAcceleration(const float &acc)
{
if (acc > 0 && acc < getMaxAcc()) {
float acc_max = getMaxVel();
if (acc > 0 && acc < acc_max) {
_desired_acceleration = acc;
} else if (acc > acc_max) {
_desired_acceleration = acc_max;
}
}
@@ -210,5 +222,7 @@ void StraightLine::setDeceleration(const float &dec)
{
if (dec > 0 && dec < DECELERATION_MAX) {
_desired_deceleration = dec;
} else if (dec > DECELERATION_MAX) {
_desired_deceleration = DECELERATION_MAX;
}
}
}