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MulticopterPositionControl: improve tilt limit readability and scope

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according to @bresch's review comment.
This commit is contained in:
Matthias Grob 2021-03-30 19:48:12 +02:00
parent 94469d84ae
commit c06b5a1de9
1 changed files with 3 additions and 7 deletions
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10
src/modules/mc_pos_control/MulticopterPositionControl.cpp
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@ -375,13 +375,9 @@ void MulticopterPositionControl::Run()
}
// limit tilt during takeoff ramupup
float tilt_limit = math::radians(_param_mpc_tiltmax_air.get());
if (_takeoff.getTakeoffState() < TakeoffState::flight) {
tilt_limit = math::radians(_param_mpc_tiltmax_lnd.get());
}
_control.setTiltLimit(_tilt_limit_slew_rate.update(tilt_limit, dt));
const float tilt_limit_deg = (_takeoff.getTakeoffState() < TakeoffState::flight)
? _param_mpc_tiltmax_lnd.get() : _param_mpc_tiltmax_air.get();
_control.setTiltLimit(_tilt_limit_slew_rate.update(math::radians(tilt_limit_deg), dt));
const float speed_up = _takeoff.updateRamp(dt,
PX4_ISFINITE(_vehicle_constraints.speed_up) ? _vehicle_constraints.speed_up : _param_mpc_z_vel_max_up.get());