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FlightTaskManualPosition: simplify optical flow limiting logic

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This commit is contained in:
Matthias Grob
2021-11-09 21:47:06 -05:00
committed by Daniel Agar
parent 10e329ce9e
commit dd05cb3496
1 changed files with 2 additions and 4 deletions
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src/modules/flight_mode_manager/tasks/ManualPosition/FlightTaskManualPosition.cpp
+2 -4
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@@ -89,10 +89,8 @@ void FlightTaskManualPosition::_scaleSticks()
float velocity_scale = _param_mpc_vel_manual.get(); float velocity_scale = _param_mpc_vel_manual.get();
if (PX4_ISFINITE(max_speed_from_estimator)) { if (PX4_ISFINITE(max_speed_from_estimator)) {
// use the minimum of the estimator and user specified limit // Constrain with optical flow limit but leave 0.3 m/s for repositioning
velocity_scale = fminf(velocity_scale, max_speed_from_estimator); velocity_scale = math::constrain(velocity_scale, 0.3f, max_speed_from_estimator);
// Allow for a minimum of 0.3 m/s for repositioning
velocity_scale = fmaxf(velocity_scale, 0.3f);
} }
// scale velocity to its maximum limits // scale velocity to its maximum limits