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FlighTaskManual lock condition: rename boolean

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Dennis Mannhart 2018-01-05 11:06:29 +01:00 committed by Beat Küng
parent 5d06464340
commit 153b012df6
2 changed files with 6 additions and 6 deletions
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6
src/lib/FlightTasks/tasks/FlightTaskManualAltitude.cpp
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@ -74,13 +74,13 @@ void FlightTaskManualAltitude::_updateAltitudeLock()
*/
/* handle position and altitude hold */
const bool stick_z_zero = fabsf(_sticks_expo(2)) <= FLT_EPSILON;
const bool apply_brake_z = fabsf(_vel_sp_z) <= FLT_EPSILON;
const bool stopped_z = (_vel_z_dz.get() < FLT_EPSILON || fabsf(_velocity(2)) < _vel_z_dz.get());
if (stick_z_zero && stopped_z && !PX4_ISFINITE(_pos_sp_z)) {
if (apply_brake_z && stopped_z && !PX4_ISFINITE(_pos_sp_z)) {
_pos_sp_z = _position(2);
} else if (!stick_z_zero) {
} else if (!apply_brake_z) {
_pos_sp_z = NAN;
}
}

6
src/lib/FlightTasks/tasks/FlightTaskManualPosition.cpp
View File

@ -84,13 +84,13 @@ void FlightTaskManualPosition::_updateXYlock()
{
/* If position lock is not active, position setpoint is set to NAN.*/
const float vel_xy_norm = Vector2f(&_velocity(0)).length();
const bool stick_zero = matrix::Vector2f(_sticks_expo(0), _sticks_expo(1)).length() < FLT_EPSILON;
const bool apply_brake = _vel_sp_xy.length() < FLT_EPSILON;
const bool stopped = (_vel_xy_dz.get() < FLT_EPSILON || vel_xy_norm < _vel_xy_dz.get());
if (stick_zero && stopped && !PX4_ISFINITE(_pos_sp_xy(0))) {
if (apply_brake && stopped && !PX4_ISFINITE(_pos_sp_xy(0))) {
_pos_sp_xy = matrix::Vector2f(&_position(0));
} else if (!stick_zero) {
} else if (!apply_brake) {
_pos_sp_xy = _pos_sp_xy * NAN;
}
}