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Fix compile error, save some bytes by removing redundant checks

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This commit is contained in:
Julian Kent
2019-12-16 14:07:28 +01:00
committed by Mathieu Bresciani
parent af961f2391
commit bb410ca0db
1 changed files with 6 additions and 8 deletions
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src/lib/flight_tasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.cpp
+6 -8
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@@ -194,20 +194,18 @@ float FlightTaskAutoLineSmoothVel::_getMaxXYSpeed() const
// constrain velocity to go to the position setpoint first if the position setpoint has been modified by an external source
// (eg. Obstacle Avoidance)
bool xy_valid = PX4_ISFINITE(_position_setpoint(0)) && PX4_ISFINITE(_position_setpoint(1));
bool xy_modified = xy_valid && Vector2f((_target - _position_setpoint).xy()).longerThan(FLT_EPSILON);
bool xy_modified = (_target - _position_setpoint).xy().longerThan(FLT_EPSILON);
bool z_valid = PX4_ISFINITE(_position_setpoint(2));
bool z_modified = z_valid && fabsf((_target - _position_setpoint)(2)) > FLT_EPSILON;
bool z_modified = z_valid && fabs((_target - _position_setpoint)(2)) > FLT_EPSILON;
float max_xy_speed;
Vector3f waypoints[3] = {pos_traj, _target, _next_wp};
if (xy_modified || z_modified) {
max_xy_speed = math::trajectory::computeXYSpeedFromWaypoints<2>({pos_traj, _position_setpoint}, config);
} else {
max_xy_speed = math::trajectory::computeXYSpeedFromWaypoints<3>({pos_traj, _target, _next_wp}, config);
waypoints[2] = waypoints[1] = _position_setpoint;
}
float max_xy_speed = math::trajectory::computeXYSpeedFromWaypoints<3>(waypoints, config);
return max_xy_speed;
}