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FlightTasks: refactor NAN initializations, spacing

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This commit is contained in:
Matthias Grob
2019-12-18 15:57:48 +01:00
parent ab4473319a
commit 1a5b06d0cf
7 changed files with 32 additions and 39 deletions
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src/lib/flight_tasks/tasks/Transition/FlightTaskTransition.cpp
+2 -5
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@@ -69,7 +69,7 @@ void FlightTaskTransition::updateAccelerationEstimate()
if (!PX4_ISFINITE(_acceleration_setpoint(0)) ||
!PX4_ISFINITE(_acceleration_setpoint(1)) ||
!PX4_ISFINITE(_acceleration_setpoint(2))) {
_acceleration_setpoint.setAll(0.f);
_acceleration_setpoint.setZero();
}
_velocity_prev = _velocity;
@@ -78,11 +78,8 @@ void FlightTaskTransition::updateAccelerationEstimate()
bool FlightTaskTransition::update()
{
// level wings during the transition, altitude should be controlled
_thrust_setpoint(0) = _thrust_setpoint(1) = 0.0f;
_thrust_setpoint(2) = NAN;
_position_setpoint *= NAN;
_velocity_setpoint *= NAN;
_position_setpoint(2) = _transition_altitude;
_thrust_setpoint.xy() = matrix::Vector2f(0.f, 0.f);
updateAccelerationEstimate();