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FlightTaskOrbit: improved naming in applyCommandParameters()

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This commit is contained in:
Matthias Grob
2022-01-25 11:45:31 +01:00
parent 8525a8e520
commit 661496ab24
1 changed files with 7 additions and 8 deletions
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src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp
+7 -8
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@@ -51,25 +51,24 @@ bool FlightTaskOrbit::applyCommandParameters(const vehicle_command_s &command)
{
bool ret = true;
// save previous velocity and roatation direction
bool is_clockwise = _orbit_velocity > 0;
bool new_is_clockwise = _orbit_velocity > 0;
float new_radius = _orbit_radius;
float new_abs_velocity = fabsf(_orbit_velocity);
float new_absolute_velocity = fabsf(_orbit_velocity);
// commanded radius
if (PX4_ISFINITE(command.param1)) {
// Note: Radius sign is defined as orbit direction in MAVLINK
float radius = command.param1;
is_clockwise = radius > 0;
new_radius = fabsf(radius);
const float radius_parameter = command.param1;
new_is_clockwise = radius_parameter > 0;
new_radius = fabsf(radius_parameter);
}
// commanded velocity, take sign of radius as rotation direction
if (PX4_ISFINITE(command.param2)) {
new_abs_velocity = command.param2;
new_absolute_velocity = command.param2;
}
float new_velocity = (is_clockwise ? 1.f : -1.f) * new_abs_velocity;
float new_velocity = (new_is_clockwise ? 1.f : -1.f) * new_absolute_velocity;
_sanitizeParams(new_radius, new_velocity);
_orbit_radius = new_radius;
_orbit_velocity = new_velocity;