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FlightTaskAuto: check yawspeed saturation before constraining

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to avoid possible numerical float equality issues.
This commit is contained in:
Matthias Grob 2020-06-15 09:55:15 +02:00
parent 12449c23c5
commit 1efc8c27eb
1 changed files with 2 additions and 2 deletions
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4
src/lib/flight_tasks/tasks/Auto/FlightTaskAuto.cpp
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@ -117,10 +117,10 @@ void FlightTaskAuto::_limitYawRate()
}
if (PX4_ISFINITE(_yawspeed_setpoint)) {
_yawspeed_setpoint = math::constrain(_yawspeed_setpoint, -yawrate_max, yawrate_max);
// The yaw setpoint is aligned when its rate is not saturated
_yaw_sp_aligned = _yaw_sp_aligned && (fabsf(_yawspeed_setpoint) < yawrate_max);
_yawspeed_setpoint = math::constrain(_yawspeed_setpoint, -yawrate_max, yawrate_max);
}
}