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FlightTaskOrbit: clip radius to range

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This commit is contained in:
Matthias Grob
2018-12-19 18:22:08 +01:00
parent f8171f999b
commit 3d42c495aa
1 changed files with 8 additions and 9 deletions
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src/lib/FlightTasks/tasks/Orbit/FlightTaskOrbit.cpp
+8 -9
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@@ -117,19 +117,18 @@ bool FlightTaskOrbit::sendTelemetry()
return true;
}
bool FlightTaskOrbit::setRadius(const float r)
bool FlightTaskOrbit::setRadius(float r)
{
if (math::isInRange(r, _radius_min, _radius_max)) {
// small radius is more important than high velocity for safety
if (!checkAcceleration(r, _v, _acceleration_max)) {
_v = math::sign(_v) * sqrtf(_acceleration_max * r);
}
// clip the radius to be within range
r = math::constrain(r, _radius_min, _radius_max);
_r = r;
return true;
// small radius is more important than high velocity for safety
if (!checkAcceleration(r, _v, _acceleration_max)) {
_v = math::sign(_v) * sqrtf(_acceleration_max * r);
}
return false;
_r = r;
return true;
}
bool FlightTaskOrbit::setVelocity(const float v)