From b4fd215b4783f258ef862819632bfc05cdb78934 Mon Sep 17 00:00:00 2001 From: Balduin Date: Wed, 23 Jul 2025 08:57:31 +0200 Subject: [PATCH] wip: cleanup --- .../flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp | 8 ++------ src/modules/mc_pos_control/multicopter_nudging_params.c | 2 +- 2 files changed, 3 insertions(+), 7 deletions(-) diff --git a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp index ca450dd942..0d8ec70efb 100644 --- a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp +++ b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp @@ -267,12 +267,11 @@ void FlightTaskAuto::_prepareLandSetpoints() Sticks::rotateIntoHeadingFrameXY(sticks_ne, _yaw, _land_heading); const bool land_radius_enabled = _param_mpc_land_radius.get() > 0.0f; - const bool position_valid = !isnan(_position(0)) && !isnan(_position(1)); + const bool position_valid = Vector2f(_position).isAllFinite(); - float max_speed; + float max_speed = INFINITY; if (land_radius_enabled && position_valid) { - const float distance_to_circle = math::trajectory::getMaxDistanceToCircle(_position.xy(), _initial_land_position.xy(), _param_mpc_land_radius.get(), sticks_ne); @@ -289,9 +288,6 @@ void FlightTaskAuto::_prepareLandSetpoints() max_speed = 0.f; sticks_xy.setZero(); } - - } else { - max_speed = 10.0f; } PX4_INFO(" max speed: %.2f", (double) max_speed); diff --git a/src/modules/mc_pos_control/multicopter_nudging_params.c b/src/modules/mc_pos_control/multicopter_nudging_params.c index ed1909026f..6455b3dd12 100644 --- a/src/modules/mc_pos_control/multicopter_nudging_params.c +++ b/src/modules/mc_pos_control/multicopter_nudging_params.c @@ -56,7 +56,7 @@ PARAM_DEFINE_INT32(MPC_LAND_RC_HELP, 0); * When nudging is enabled (see MPC_LAND_RC_HELP), this controls * the maximum allowed horizontal displacement from the original landing point. * - * Setting the radius to -1 will disable this feature. Only works while local position is valid. + * Setting the radius to -1 will disable this feature. Nudging is only limited while local position is valid. * * @unit m * @min -1