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PositionControl: simplify constraint conditions

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This commit is contained in:
Matthias Grob 2019-12-07 13:11:08 +01:00
parent 121d743049
commit 2303071df4
1 changed files with 3 additions and 5 deletions
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8
src/modules/mc_pos_control/PositionControl/PositionControl.cpp
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@ -105,17 +105,15 @@ void PositionControl::setConstraints(const vehicle_constraints_s &constraints)
// For safety check if adjustable constraints are below global constraints. If they are not stricter than global
// constraints, then just use global constraints for the limits.
if (!PX4_ISFINITE(constraints.tilt)
|| !(constraints.tilt < _lim_tilt)) {
if (!PX4_ISFINITE(constraints.tilt) || (constraints.tilt > _lim_tilt)) {
_constraints.tilt = _lim_tilt;
}
if (!PX4_ISFINITE(constraints.speed_up) || !(constraints.speed_up < _lim_vel_up)) {
if (!PX4_ISFINITE(constraints.speed_up) || (constraints.speed_up > _lim_vel_up)) {
_constraints.speed_up = _lim_vel_up;
}
if (!PX4_ISFINITE(constraints.speed_down) || !(constraints.speed_down < _lim_vel_down)) {
if (!PX4_ISFINITE(constraints.speed_down) || (constraints.speed_down > _lim_vel_down)) {
_constraints.speed_down = _lim_vel_down;
}