From 65a9cd171f272d4be8d7c7f944b3245471ebcaf5 Mon Sep 17 00:00:00 2001
From: Dennis Mannhart <dennis@yuneecresearch.com>
Date: Mon, 19 Mar 2018 11:43:48 +0100
Subject: [PATCH] PositionControl: variable replacement

---
 src/modules/mc_pos_control/PositionControl.cpp | 8 ++++----
 src/modules/mc_pos_control/PositionControl.hpp | 3 +--
 2 files changed, 5 insertions(+), 6 deletions(-)

diff --git a/src/modules/mc_pos_control/PositionControl.cpp b/src/modules/mc_pos_control/PositionControl.cpp
index e7be49eb76..c7cc1a1ae0 100644
--- a/src/modules/mc_pos_control/PositionControl.cpp
+++ b/src/modules/mc_pos_control/PositionControl.cpp
@@ -95,11 +95,11 @@ void PositionControl::updateSetpoint(const vehicle_local_position_setpoint_s &se
 	 * controller and just return thrust.
 	 */
 	_skipController = false;
-	_ThrLimit[1] = _ThrMinPosition;
+	_ThrustLimit.min = _ThrMinPosition;
 
 	if (PX4_ISFINITE(setpoint.thrust[0]) && PX4_ISFINITE(setpoint.thrust[1]) && PX4_ISFINITE(setpoint.thrust[2])) {
 		_skipController = true;
-		_ThrLimit[1] = _ThrMinStab;
+		_ThrustLimit.min = _ThrMinStab;
 		_pos_sp.zero();
 		_vel_sp.zero();
 		_acc_sp.zero();
@@ -188,7 +188,7 @@ void PositionControl::_positionController()
 			     _VelMaxXY);
 	_vel_sp(0) = vel_sp_xy(0);
 	_vel_sp(1) = vel_sp_xy(1);
-	_vel_sp(2) = math::constrain(_vel_sp(2), -_VelMaxZ[0], _VelMaxZ[1]);
+	_vel_sp(2) = math::constrain(_vel_sp(2), -_VelMaxZ.up, _VelMaxZ.down);
 }
 
 void PositionControl::_velocityController(const float &dt)
@@ -333,7 +333,7 @@ void PositionControl::_setParams()
 	param_get(_VelMaxZdown_h, &_VelMaxZ.down);
 
 	param_get(_ThrHover_h, &_ThrHover);
-	param_get(_ThrMax_h, &_ThrLimit[0]);
+	param_get(_ThrMax_h, &_ThrustLimit.max);
 	param_get(_ThrMinPosition_h, &_ThrMinPosition);
 	param_get(_ThrMinStab_h, &_ThrMinStab);
 }
diff --git a/src/modules/mc_pos_control/PositionControl.hpp b/src/modules/mc_pos_control/PositionControl.hpp
index ac0d31d8b6..cb26b525e2 100644
--- a/src/modules/mc_pos_control/PositionControl.hpp
+++ b/src/modules/mc_pos_control/PositionControl.hpp
@@ -127,9 +127,8 @@ private:
 		float min;
 	};
 	Limits _ThrustLimit;
-	float _ThrHover{0.5f};
 
-	float _ThrLimit[2]; //index 0: max, index 1: min
+	float _ThrHover{0.5f};
 	float _ThrMinPosition{0.0f}; // minimum throttle for any position controlled mode
 	float _ThrMinStab{0.0f}; // minimum throttle for stabilized
 	bool _skipController{false};