From 1de38c88d94eb71ba7786d3588d29d20cdb6aaac Mon Sep 17 00:00:00 2001 From: bresch Date: Thu, 24 Feb 2022 14:27:10 +0100 Subject: [PATCH] mpc: use xy stick limiting function from library --- .../tasks/ManualPosition/FlightTaskManualPosition.cpp | 6 +----- 1 file changed, 1 insertion(+), 5 deletions(-) diff --git a/src/modules/flight_mode_manager/tasks/ManualPosition/FlightTaskManualPosition.cpp b/src/modules/flight_mode_manager/tasks/ManualPosition/FlightTaskManualPosition.cpp index f7d9345cbf..ba3d541ba5 100644 --- a/src/modules/flight_mode_manager/tasks/ManualPosition/FlightTaskManualPosition.cpp +++ b/src/modules/flight_mode_manager/tasks/ManualPosition/FlightTaskManualPosition.cpp @@ -73,11 +73,7 @@ void FlightTaskManualPosition::_scaleSticks() /* Constrain length of stick inputs to 1 for xy*/ Vector2f stick_xy = _sticks.getPositionExpo().slice<2, 1>(0, 0); - const float mag = math::constrain(stick_xy.length(), 0.0f, 1.0f); - - if (mag > FLT_EPSILON) { - stick_xy = stick_xy.normalized() * mag; - } + Sticks::limitStickUnitLengthXY(stick_xy); const float max_speed_from_estimator = _sub_vehicle_local_position.get().vxy_max;