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Takeoff: remove updateRamp() early return

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This commit is contained in:
Matthias Grob
2021-03-31 10:03:08 +02:00
parent b7600f4e4d
commit 8ca76feaba
1 changed files with 5 additions and 3 deletions
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src/modules/mc_pos_control/Takeoff/Takeoff.cpp
+5 -3
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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 Takeoff::updateRamp(const float dt, const float takeoff_desired_vz)
{ {
float upwards_velocity_limit = takeoff_desired_vz;
if (_takeoff_state < TakeoffState::rampup) { if (_takeoff_state < TakeoffState::rampup) {
return _takeoff_ramp_vz_init; upwards_velocity_limit = _takeoff_ramp_vz_init;
} }
if (_takeoff_state == TakeoffState::rampup) { 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) { 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;
} }