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FlightTask: make applyCommandParameters getting called recursively & pass command by reference

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This commit is contained in:
Matthias Grob
2017-12-16 10:14:15 +01:00
committed by Beat Küng
parent 4bb3692020
commit 4d0dca5dd5
4 changed files with 7 additions and 7 deletions
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src/lib/FlightTasks/tasks/FlightTaskOrbit.cpp
+4 -4
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@@ -51,16 +51,16 @@ FlightTaskOrbit::FlightTaskOrbit(control::SuperBlock *parent, const char *name)
_sticks_data_required = false;
}
bool FlightTaskOrbit::applyCommandParameters(vehicle_command_s command)
bool FlightTaskOrbit::applyCommandParameters(const vehicle_command_s &command)
{
float &r = command.param3; /**< commanded radius */
float &v = command.param4; /**< commanded velocity */
const float &r = command.param3; /**< commanded radius */
const float &v = command.param4; /**< commanded velocity */
if (math::isInRange(r, 5.f, 50.f) &&
fabs(v) < 10.f) {
_r = r;
_v = v;
return true;
return FlightTaskManual::applyCommandParameters(command);
}
return false;