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mc_pos_control: formatting fixes

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This commit is contained in:
Paul Riseborough
2018-06-09 13:38:04 +02:00
committed by Lorenz Meier
parent b77845a3c0
commit f0a1cd197e
1 changed files with 3 additions and 1 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+3 -1
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@@ -846,6 +846,7 @@ MulticopterPositionControl::limit_altitude()
// Calculate vertical position limit
float poz_z_min_limit;
if (_terrain_follow) {
poz_z_min_limit = fmaxf(-_local_pos.hagl_max, -_vehicle_land_detected.alt_max);
@@ -853,7 +854,7 @@ MulticopterPositionControl::limit_altitude()
} else {
poz_z_min_limit = fmaxf(-_local_pos.hagl_max + _pos(2) + _local_pos.dist_bottom,
-_vehicle_land_detected.alt_max + _home_pos.z);
-_vehicle_land_detected.alt_max + _home_pos.z);
//printf("altitude follow alt limit : %f\n", altitude_limit);
}
@@ -868,6 +869,7 @@ MulticopterPositionControl::limit_altitude()
// predict future position based on current position, velocity, max acceleration downwards and time to reach zero velocity
float pos_z_next = _pos(2);
if (_vel(2) < 0.0f) {
// allow for stopping distance only when approaching the altitude limit from below
// TODO better calculation that allows for delay in braking