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more clean up

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This commit is contained in:
Jimmy Johnson
2016-03-12 14:30:15 -08:00
committed by Lorenz Meier
parent 515882ac0e
commit dfc2d9b5e0
5 changed files with 8 additions and 10 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+2 -2
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@@ -720,7 +720,6 @@ MulticopterPositionControl::reset_pos_sp()
// we have logic in the main function which chooses the velocity setpoint such that the attitude setpoint is
// continuous when switching into velocity controlled mode, therefore, we don't need to bother about resetting
// position in a special way. In position control mode the position will be reset anyway until the vehicle has reduced speed.
_pos_sp(0) = _pos(0);
_pos_sp(1) = _pos(1);
}
@@ -1387,7 +1386,8 @@ MulticopterPositionControl::task_main()
/* make sure velocity setpoint is saturated in xy*/
float vel_norm_xy = sqrtf(_vel_sp(0) * _vel_sp(0) + _vel_sp(1) * _vel_sp(1));
if (_pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_FOLLOW_TARGET) {
if (_pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_FOLLOW_TARGET &&
_pos_sp_triplet.current.velocity_valid) {
_vel_sp(0) = _pos_sp_triplet.current.vx;
_vel_sp(1) = _pos_sp_triplet.current.vy;
} else if (vel_norm_xy > _params.vel_max(0)) {