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Takeoff: remove updateRamp() early return

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This commit is contained in:
Matthias Grob 2021-03-04 11:15:33 +01:00
parent b7600f4e4d
commit 8ca76feaba
1 changed files with 5 additions and 3 deletions
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8
src/modules/mc_pos_control/Takeoff/Takeoff.cpp
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@ -111,8 +111,10 @@ void Takeoff::updateTakeoffState(const bool armed, const bool landed, const bool
float Takeoff::updateRamp(const float dt, const float takeoff_desired_vz)
{
float upwards_velocity_limit = takeoff_desired_vz;
if (_takeoff_state < TakeoffState::rampup) {
return _takeoff_ramp_vz_init;
upwards_velocity_limit = _takeoff_ramp_vz_init;
}
if (_takeoff_state == TakeoffState::rampup) {
@ -124,9 +126,9 @@ float Takeoff::updateRamp(const float dt, const float takeoff_desired_vz)
}
if (_takeoff_ramp_vz < takeoff_desired_vz) {
return _takeoff_ramp_vz;
upwards_velocity_limit = _takeoff_ramp_vz;
}
}
return takeoff_desired_vz;
return upwards_velocity_limit;
}