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Eliminate intermediate variable

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This commit is contained in:
Jaeyoung Lim
2023-03-28 18:48:26 +02:00
parent e3db31f5ab
commit 8296d02b1e
1 changed files with 2 additions and 6 deletions
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src/modules/fw_path_navigation/FixedwingPositionControl.cpp
+2 -6
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@@ -1308,8 +1308,6 @@ FixedwingPositionControl::control_auto_path(const float control_interval, const
} }
// waypoint is a plain navigation waypoint // waypoint is a plain navigation waypoint
float position_sp_alt = pos_sp_curr.alt;
float target_airspeed = adapt_airspeed_setpoint(control_interval, pos_sp_curr.cruising_speed, float target_airspeed = adapt_airspeed_setpoint(control_interval, pos_sp_curr.cruising_speed,
_param_fw_airspd_min.get(), ground_speed); _param_fw_airspd_min.get(), ground_speed);
@@ -1331,16 +1329,14 @@ FixedwingPositionControl::control_auto_path(const float control_interval, const
_att_sp.yaw_body = _yaw; // yaw is not controlled, so set setpoint to current yaw _att_sp.yaw_body = _yaw; // yaw is not controlled, so set setpoint to current yaw
tecs_update_pitch_throttle(control_interval, tecs_update_pitch_throttle(control_interval,
position_sp_alt, pos_sp_curr.alt,
target_airspeed, target_airspeed,
radians(_param_fw_p_lim_min.get()), radians(_param_fw_p_lim_min.get()),
radians(_param_fw_p_lim_max.get()), radians(_param_fw_p_lim_max.get()),
tecs_fw_thr_min, tecs_fw_thr_min,
tecs_fw_thr_max, tecs_fw_thr_max,
_param_sinkrate_target.get(), _param_sinkrate_target.get(),
_param_climbrate_target.get(), _param_climbrate_target.get());
false,
pos_sp_curr.vz);
} }
void void