From 2af253fa9f98c1c5a8003387cafa9d722ce0993f Mon Sep 17 00:00:00 2001 From: Dennis Mannhart Date: Thu, 24 May 2018 08:50:10 +0200 Subject: [PATCH] FlightTaskManual: sticks not to be finite activation method not needed --- .../FlightTasks/tasks/FlightTaskManual.cpp | 23 ++++++------------- 1 file changed, 7 insertions(+), 16 deletions(-) diff --git a/src/lib/FlightTasks/tasks/FlightTaskManual.cpp b/src/lib/FlightTasks/tasks/FlightTaskManual.cpp index eaef2e9b89..c386259861 100644 --- a/src/lib/FlightTasks/tasks/FlightTaskManual.cpp +++ b/src/lib/FlightTasks/tasks/FlightTaskManual.cpp @@ -65,21 +65,6 @@ bool FlightTaskManual::updateInitialize() return ret; } -bool FlightTaskManual::activate() -{ - bool ret = FlightTask::activate(); - - if (_sticks_data_required) { - // need valid stick inputs - ret = ret && PX4_ISFINITE(_sticks(0)) - && PX4_ISFINITE(_sticks(1)) - && PX4_ISFINITE(_sticks(2)) - && PX4_ISFINITE(_sticks(3)); - } - - return ret; -} - bool FlightTaskManual::_evaluateSticks() { /* Sticks are rescaled linearly and exponentially to [-1,1] */ @@ -111,7 +96,13 @@ bool FlightTaskManual::_evaluateSticks() _applyGearSwitch(gear_switch); } - return true; + // valid stick inputs are required + const bool valid_sticks = PX4_ISFINITE(_sticks(0)) + && PX4_ISFINITE(_sticks(1)) + && PX4_ISFINITE(_sticks(2)) + && PX4_ISFINITE(_sticks(3)); + + return valid_sticks; } else { /* Timeout: set all sticks to zero */