From 374c9f38a78104a129bb97d2854f1f72511d956e Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Thu, 10 Jun 2021 11:53:42 +0200
Subject: [PATCH] manual_control: use constrain() instead

---
 src/modules/manual_control/ManualControl.hpp | 7 +------
 1 file changed, 1 insertion(+), 6 deletions(-)

diff --git a/src/modules/manual_control/ManualControl.hpp b/src/modules/manual_control/ManualControl.hpp
index 2cfc9db9a2..9e1aa56f7b 100644
--- a/src/modules/manual_control/ManualControl.hpp
+++ b/src/modules/manual_control/ManualControl.hpp
@@ -59,12 +59,7 @@ class MovingDiff
 public:
 	void update(float value, float dt_s)
 	{
-		if (dt_s < 0.0f) {
-			dt_s = 0.0f;
-
-		} else if (dt_s > _time_period_s) {
-			dt_s = _time_period_s;
-		}
+		math::constrain(dt_s, 0.f, _time_period_s);
 
 		// Leave _diff at 0.0f if we don't have a _last_value yet.
 		if (PX4_ISFINITE(_last_value)) {