From 99e58e2923857f33813b9d0b4999868190bc6245 Mon Sep 17 00:00:00 2001 From: ChristophTobler Date: Tue, 24 Jul 2018 08:00:27 +0200 Subject: [PATCH] FlightTask StraightLine: make format --- src/lib/FlightTasks/tasks/Utility/StraightLine.cpp | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/src/lib/FlightTasks/tasks/Utility/StraightLine.cpp b/src/lib/FlightTasks/tasks/Utility/StraightLine.cpp index 89a367175a..da3a32404f 100644 --- a/src/lib/FlightTasks/tasks/Utility/StraightLine.cpp +++ b/src/lib/FlightTasks/tasks/Utility/StraightLine.cpp @@ -55,7 +55,7 @@ void StraightLine::generateSetpoints(matrix::Vector3f &position_setpoint, matrix { // Check if target position has been reached if (_desired_speed_at_target < VEL_ZERO_THRESHOLD && - (_pos - _target).length() < NAV_ACC_RAD.get()) { + (_pos - _target).length() < NAV_ACC_RAD.get()) { // Vehicle has reached target. Lock position position_setpoint = _target; velocity_setpoint = Vector3f(0.0f, 0.0f, 0.0f); @@ -73,7 +73,8 @@ void StraightLine::generateSetpoints(matrix::Vector3f &position_setpoint, matrix float speed_sp_prev = math::max(velocity_setpoint * u_orig_to_target, 0.0f); // Calculate accelerating/decelerating distance depending on speed, speed at target and acceleration/deceleration - float acc_dec_distance = fabs((_desired_speed * _desired_speed) - (_desired_speed_at_target * _desired_speed_at_target)) / 2.0f; + float acc_dec_distance = fabs((_desired_speed * _desired_speed) - (_desired_speed_at_target * + _desired_speed_at_target)) / 2.0f; acc_dec_distance /= _desired_speed > _desired_speed_at_target ? _desired_deceleration : _desired_acceleration; float dist_to_target = (_target - _pos).length(); // distance to target @@ -193,6 +194,7 @@ void StraightLine::setSpeed(const float &speed) if (speed > 0 && speed < vel_max) { _desired_speed = speed; + } else if (speed > vel_max) { _desired_speed = vel_max; } @@ -204,6 +206,7 @@ void StraightLine::setSpeedAtTarget(const float &speed_at_target) if (speed_at_target > 0 && speed_at_target < vel_max) { _desired_speed_at_target = speed_at_target; + } else if (speed_at_target > vel_max) { _desired_speed_at_target = vel_max; } @@ -215,6 +218,7 @@ void StraightLine::setAcceleration(const float &acc) if (acc > 0 && acc < acc_max) { _desired_acceleration = acc; + } else if (acc > acc_max) { _desired_acceleration = acc_max; } @@ -224,6 +228,7 @@ void StraightLine::setDeceleration(const float &dec) { if (dec > 0 && dec < DECELERATION_MAX) { _desired_deceleration = dec; + } else if (dec > DECELERATION_MAX) { _desired_deceleration = DECELERATION_MAX; }