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math: support max of three values additional to min and use it everywhere

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This commit is contained in:
Matthias Grob
2021-12-07 21:06:51 +01:00
parent e8676fe87a
commit 68e2940f58
12 changed files with 18 additions and 12 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+1 -1
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@@ -1059,7 +1059,7 @@ FixedwingPositionControl::control_auto_position(const hrt_abstime &now, const Ve
// Save distance to waypoint if it is the smallest ever achieved, however make sure that
// _min_current_sp_distance_xy is never larger than the distance between the current and the previous wp
_min_current_sp_distance_xy = math::min(math::min(d_curr, _min_current_sp_distance_xy), d_curr_prev);
_min_current_sp_distance_xy = math::min(d_curr, _min_current_sp_distance_xy, d_curr_prev);
// if the minimal distance is smaller than the acceptance radius, we should be at waypoint alt
// navigator will soon switch to the next waypoint item (if there is one) as soon as we reach this altitude