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FlightTaskManualAltitude: refactor horizontal stick input check

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This commit is contained in:
Matthias Grob
2023-11-24 17:51:17 +01:00
parent 0e84dd7040
commit eb76b0ce55
1 changed files with 1 additions and 3 deletions
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src/modules/flight_mode_manager/tasks/ManualAltitude/FlightTaskManualAltitude.cpp
+1 -3
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@@ -115,8 +115,7 @@ void FlightTaskManualAltitude::_updateAltitudeLock()
float spd_xy = Vector2f(_velocity).length();
// Use presence of horizontal stick inputs as a transition criteria
float stick_xy = Vector2f(_sticks.getPitchRollExpo()).length();
bool stick_input = stick_xy > 0.001f;
bool stick_input = _sticks.getPitchRollExpo().longerThan(FLT_EPSILON);
if (_terrain_hold) {
bool too_fast = spd_xy > _param_mpc_hold_max_xy.get();
@@ -147,7 +146,6 @@ void FlightTaskManualAltitude::_updateAltitudeLock()
}
}
}
}
if ((_param_mpc_alt_mode.get() == 1 || _terrain_hold) && PX4_ISFINITE(_dist_to_bottom)) {