From 2303071df4034da2d505d06fe197bb34bda6ccde Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Sat, 7 Dec 2019 13:11:08 +0100 Subject: [PATCH] PositionControl: simplify constraint conditions --- .../mc_pos_control/PositionControl/PositionControl.cpp | 8 +++----- 1 file changed, 3 insertions(+), 5 deletions(-) diff --git a/src/modules/mc_pos_control/PositionControl/PositionControl.cpp b/src/modules/mc_pos_control/PositionControl/PositionControl.cpp index e5e39cd9a0..44f546122a 100644 --- a/src/modules/mc_pos_control/PositionControl/PositionControl.cpp +++ b/src/modules/mc_pos_control/PositionControl/PositionControl.cpp @@ -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; }